Hoverboard

ABSTRACT

A hoverboard is described. The hoverboard includes four hover engines each including a motor. The motor rotates an arrangement of magnets to induce eddy currents and generate magnetic lift which causes the hoverboard to hover in the air. The hoverboard can be tilted to propel it in a particular direction. The hover engines can each be coupled to a tilt mechanism which is coupled to a flexible rider platform. When rider platform is flexed via rider induced forces, the hover engines can be tilted individually to provide translational forces.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application claims priority under 35 U.S.C. §119(e) to U.S.Provisional Patent Application No. 62/066,891, filed Oct. 21, 2014,entitled “Hoverboard,” by Henderson et al, which is incorporated byreference in its entirety for all purposes herein. This patentapplication claims priority under 35 U.S.C. §119(e) to U.S. ProvisionalPatent Application No. 61/977,045, filed Apr. 8, 2014, entitled“Applications of Magnet Arrangements having One-Sided FluxDistribution,” by Henderson et al, which is incorporated by reference inits entirety for all purposes herein. This patent application claimspriority under 35 U.S.C. §119(e) to U.S. Provisional Patent ApplicationNo. 62/011,011, filed Jun. 11, 2014, entitled “Applications of MagnetArrangements having a One-sided Magnetic Flux Distribution,” byHenderson et al, which is incorporated by reference in its entirety forall purposes herein. This patent application claims priority under 35U.S.C. §119(e) to U.S. Provisional Patent Application No. 62/031,756,filed Jul. 31, 2014, entitled “Propulsion and Control for a MagneticallyLifted Vehicle,” by Henderson et al, which is incorporated by referencein its entirety for all purposes herein. This application claimspriority under 35 U.S.C. §120 and is a continuation-in-part of U.S.patent application Ser. No. 14/069,359, entitled “Magnetic Levitation ofa Stationary or Moving Object,” filed Oct. 31, 2013, by Henderson, whichclaims priority under 35 U.S.C. §119(e) to U.S. Provisional PatentApplication Ser. No. 61/799,695, entitled “Stationary MagneticLevitation” by Henderson, filed Mar. 15, 2013 each of which areincorporated by reference in their entirety and for all purposes.

FIELD OF THE INVENTION

This invention generally relates to electromagnetic levitation systems,and more particularly to a hoverboard, which employs electromagneticlevitation.

BACKGROUND

Prior to October 2014, Wikipedia, the online encyclopedia, described ahoverboard as a fictional levitating (hovering) board used for personaltransportation in the films “Back to the Future Part II” and “Back tothe Future Part III.” Hoverboards resemble a skateboard without wheels.Through special effects the film-makers depicted the boards hoveringabove the ground.

Since these movies, people have dreamed of riding a hoverboard. A fewgroups have claimed to have created a hoverboard. However, the deviceshave proven to be elaborate hoaxes. As follows, a hoverboard, which usesmagnetic forces to hover, is described.

SUMMARY

A hoverboard is described. The hoverboard generates magnetic forceswhich can be used to lift and propel the hoverboard. The magnetic forcesare generated using one or more hover engines. In one embodiment, thehover engines each include an electric motor which is configured torotate an array of magnets. The rotating array of magnets is configuredto induce eddy currents in a conductive substrate. The induced eddycurrents generate a magnetic field which repels the magnets in the hoverengine which causes the hoverboard to hover in the air.

In one embodiment, the hoverboard includes four hover engines and riderplatform. A rider can stand on the rider platform to rider thehoverboard. In flight, a rider can shift their position and weight onthe rider platform to tilt the entire hoverboard and propel thehoverboard in a particular direction. The translational forces which aregenerated may be sufficient to allow the hoverboard to climb or holditself in position on an inclined surface. In addition, mechanisms canbe provided which allow the hover engines to be individually tilted tocontrol a balance of forces acting on the hoverboard. For example,mechanical linkages can be provided which allow the rider to inputforces which actuate one or more of the tilt mechanisms at a time tomore finely control a direction of the hoverboard.

In a particular embodiment, the hoverboard can be characterized asincluding two or more hover engines. Each of the hover engines can havean electric motor, an electronic speed controller, a starm and a shroud.The electric motor can include a winding, a first set of permanentmagnets and a first structure which holds the first permanent magnetswhere an electric current is applied to the winding to cause one of thewinding or the first set of permanent magnets to rotate.

The electronic speed controller can control a rotation rate of theelectric motor. The starm can be configured to receive a rotationaltorque from the electric motor which rotates the starm. The shroud canenclose the electric motor and at least a top portion of the starm.

The STARM can include a second set of permanent magnets and a secondstructure which holds the second set of permanent magnets. The secondset of permanent magnets can be rotated to induce eddy currents in asubstrate such that the induced eddy currents and the second set ofpermanent magnets interact to generate forces which cause the hoverboardand a rider riding on the hoverboard to hover and translate fromlocation to location along the substrate. The hoverboard can beconfigured to accommodate complex motions involving simultaneousrotation and translation.

A rider platform on which the person rides can have a front end and aback end. A first hover engine can be mounted beneath the rider platformproximate to the front end and a second hover engine can be mountedbeneath the rider platform proximate to the back end of the riderplatform. In addition, an electric power source that outputs theelectric current to the two or more hover engines can be mounted beneaththe rider platform between the first hover engine and the second hoverengine.

In particular embodiments, a mechanical hinge can be coupled to a firsthover engine which allows the starm, the electric motor and the shroudof the first hover engine to tilt relative to the rider platform. Amagnitude of a translational force, output from the first hover engine,can change in response to tilting the starm, the electric motor and theshroud. The translation force may be used to control an orientation ofthe hoverboard. A tilt mechanism can be coupled to the first hoverengine configured to receive an external force and/or generate aninternal force which tilts the first hover engine in response to aninput force generated by the person.

Another embodiment can be characterized as a magnetic lifting device.The magnetic lifting can include one or more hover engines, an electricpower source and a structure for holding the one or more hover enginesand the electric power source. Each hover engine can include an electricmotor, an electronic speed controller and a starm. The electronic speedcontroller is typically electronically disposed between the electricmotor and the electric power source. It can control the power reachingthe electric motor to control a rotation rate of the motor.

The electric motor can include a winding, a first set of permanentmagnets and a first structure which holds the first permanent magnetswhere an electric current is applied to the winding to cause one of thewinding or the first set of permanent magnets to rotate. The starm canbe configured to receive a rotational torque from the electric motorwhich rotates the starm. The starm can include a second set of permanentmagnets and a second structure which holds the second set of permanentmagnets wherein the second set of permanent magnets are rotated toinduce eddy currents in a substrate such that the induced eddy currentsand the second set of permanent magnets interact to generate forceswhich allow the magnetic lifting device to hover and translate freely inany direction above the substrate.

BRIEF DESCRIPTION OF THE DRAWINGS

The included drawings are for illustrative purposes and serve only toprovide examples of possible structures and process steps for thedisclosed inventive systems and methods. These drawings in no way limitany changes in form and detail that may be made to the invention by oneskilled in the art without departing from the spirit and scope of theinvention.

FIG. 1 is an illustration of a person riding a hoverboard in accordancewith the described embodiments.

FIGS. 2 and 3 are illustrations of eddy currents generated on aconductive plate in response to arrangements of magnets rotated abovethe plates in accordance with the described embodiments.

FIG. 4A is a plot of lift and drag curves associated with an arrangementof rotating magnets in accordance with the described embodiments.

FIG. 4B is a plot of lift associated with an arrangement of rotatingmagnets as a function of distance from a conductive substrate inaccordance with the described embodiments.

FIG. 4C is a plot of lift curves associated with an arrangement ofrotating magnets as a function a thickness of a conductive substrate andRPM in accordance with the described embodiments.

FIGS. 5A and 5B are block diagrams illustrating hovering and propulsiveeffects from rotating arrangements of magnets in accordance with thedescribed embodiments.

FIG. 6 is a bottom view of a hoverboard with hover engines which tilt inaccordance with the described embodiments.

FIG. 7 is a side view of a hover engine in a tilt position in accordancewith the described embodiments.

FIG. 8A is a perspective view of a STARM in accordance with thedescribed embodiments.

FIG. 8B is a side view of STARM with an embedded motor in accordancewith the described embodiments.

FIG. 8C is a side view of a STARM integrated with a motor in accordancewith the described embodiments.

FIGS. 9, 10 and 11 are a bottom, top and side view of a battery poweredhoverboard in accordance with the described embodiments.

FIGS. 12 and 13 are a perspective view and side view of a hoverboardwith hover engines coupled to struts in accordance with the describedembodiments.

FIG. 14 is an illustration of a hover engine coupled to a lever arm inaccordance with the described embodiments.

FIG. 15 is an illustration of a hover engine coupled to foot pedals inaccordance with the described embodiments.

FIG. 16 is an illustration of a hover engine coupled to reins inaccordance with the described embodiments.

FIGS. 17A to 17E are illustrations of shroud configurations for hoverengines in accordance with the described embodiments.

FIGS. 18A to 18D are illustrations of shroud configurations for hoverengines where a top of the shroud forms a portion of the rider platformin accordance with the described embodiments.

FIGS. 19A to 19C are illustrations of side and top views of tiltablehover engines in accordance with the described embodiments.

FIG. 20 is an illustration of a hoverboard with four hover engines inaccordance with the described embodiments.

FIG. 21 is an illustration of a hoverboard with two rotatable hoverengines in accordance with the described embodiments.

FIGS. 22A to 22D and 23 are illustrations of a hoverboard with two hoverengines in accordance with the described embodiments.

FIG. 24 is an illustration of a hoverboard with eight hover engines inaccordance with the described embodiments.

FIGS. 25A to 25E are illustrations of movement directions in response toa force inputs at different locations on a hoverboard in accordance withthe described embodiments.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention will now be described in detail with reference toa few preferred embodiments thereof as illustrated in the accompanyingdrawings. In the following description, numerous specific details areset forth in order to provide a thorough understanding of the presentinvention. It will be apparent, however, to one skilled in the art, thatthe present invention may be practiced without some or all of thesespecific details. In other instances, well known process steps and/orstructures have not been described in detail in order to notunnecessarily obscure the present invention.

With respect to the following figures a hoverboard is described. Thehoverboard is configured to generate lift using magnetic forces. Inparticular embodiments, an individual can ride the hoverboard in amanner akin to riding a skateboard, surfboard or snowboard, i.e., usetheir body movements to control a motion of the device. However, unlikethese devices, the hoverboard can generate its own propulsive forces.Thus, propulsion of the device is not solely dependent on user generatedforces, gravity or wave energy.

In addition, while hovering, the friction related forces are very low.Thus, the hoverboard can be configured to offer a greater range ofmovement and more maneuverability as compared to a skateboard, surfboardor snowboard. Details of a hoverboard are described with respect toFIGS. 1-15. In particular with respect to FIG. 1, an individual riding ahoverboard is illustrated. With respect to FIGS. 2 and 3, twoarrangements of magnets which can be used to generate magnetic lift andtheir interaction with a conductive substrate are described.

With respect to FIG. 4A, lift and drag generated as a function of RPM isdiscussed. With respect of FIG. 4B, lift as a function of distance froma conductive substrate is discussed. Lift as function of RPM and thethickness of the conductive substrate is described with respect to FIG.4C.

Propulsive and control forces which can be generated from a hoverengine, such as a hover engine coupled to hoverboard, are described withrespect to FIGS. 6 and 7. With respect to FIGS. 8A, 8B and 8C, a STARMand motor configuration which can be used to form a hover engine arediscussed. Two hoverboard configurations are described with respect toFIGS. 9-13. Additional hoverboard configurations are described withrespect to FIGS. 22A to 25.

With respect to FIGS. 14-16 analog and digital mechanisms used to move ahover engine for control and propulsive purposes are described. Withrespect to FIGS. 17A-17E shroud configuration for hover engines arediscussed. Finally, integration configurations of rotatable hoverengines to a payload platform are described with respect to FIGS.18A-21.

Although many of the embodiments described herein are discussed in thecontext of a hoverboard which is ridden by a person, various aspects ofthe embodiments are also applicable to many other types ofelectromagnetic lifting devices. For example, hover engines which tiltcan be used to propel and lift electromagnetic lifting devices which arenot necessarily configured to carry a person. As another example, themotor and STARM (STator and ARMature) configurations described hereincan be used in electromagnetic lifting devices configured to lift apallet. Other examples electromagnetic lifting devices and applicationsare provided in the provisional patent applications and utility patentapplications previously incorporated herein by reference. Thus, theexample of a human controlled hoverboard is provided for the purposes ofillustration and is not meant to be limiting.

Hoverboard System and Operation

With respect to FIGS. 1 to 5B, some general examples and operatingprinciples of a hoverboard system are described. The hoverboard systemcan include a hoverboard having hover engines and a substrate on whichthe hoverboard operates. The substrate can include a conductive portionin which eddy currents are induced. The electromagnetic interactionbetween the device which induces the eddy currents and the induced eddycurrents can be used to generate electromagnetic lift and varioustranslational and rotational control forces.

FIG. 1 is an illustration of a person 10 riding a hoverboard 12. In oneembodiment, the hoverboard includes four hover engines, such as 16. Thehover engines 16 generate a magnetic field which changes as function oftime. The time varying magnetic field interacts with a conductivematerial in track 14 to form eddy currents. The eddy currents and theirassociated magnetic fields and the magnetic fields from the hover engineinteract to generate forces, such as a lifting force or a propulsiveforce. Examples of eddy currents which can be generated are describedwith respect to FIGS. 2 and 3. Lift and drag associated with inducededdy currents is described with respect to FIGS. 4A-4C.

In FIG. 1, the track 14 is formed from copper. In particular, three oneeighth inch sheets of copper layered on top of one another are used.Other conductive materials can be used and copper is described for thepurposes of illustration only. Curved surfaces may be formed more easilyusing a number of layered thin sheets. For example, a half-pipe can beformed. In FIG. 1, a portion of a half-pipe is shown. The track 14 caninclude various sloped and flat surfaces and the example of half-pipe isprovided for illustrative purposes only.

The thickness of the conductive material which is used can depend on thematerial properties of the conductive material, such as its currentcarrying capacity and the amount of magnetic lift which is desired. Aparticular hover engine, depending on such factors, as the strength ofthe output magnetic field, the rate of movement of the magnetic fieldand the distance of the hover engine from the surface of a track caninduce stronger or weaker eddy currents in a particular track material.Different hover engines can be configured to generate different amountsof lifts and thus, induce stronger or weaker eddy currents.

The current density associated with induced eddy currents in thematerial can be a maximum at the surface and then can decrease with thedistance from the surface. In one embodiment, the current density whichis induced at the surface can be on the order of one to ten thousandamps per centimeter squared. As the conductive material becomes thinner,it can reach a thickness where the amount of current potentially inducedby the hover engine is more than the conductive material can hold. Atthis point, the amount of magnetic lift output from the hover engine candrop relative to the amount of lift which would be potentially generatedif the conductive material was thicker. This effect is discussed in moredetail with respect to FIG. 4C.

As the thickness of the material increases, the induced currents becomesmaller and smaller with increasing distance from the surface. After acertain thickness is reached, additional material results in very littleadditional lift. For the hover engines used for the hoverboard 12,simulations indicated that using ½ inch of copper would not produce muchmore lift relative to using ⅜ inch of copper.

For the device shown in FIG. 1, simulations predicted that using only ⅛inch sheet of copper would significantly lower the lift versus using ahalf inch of copper. In various embodiments, the amount of copper whichcan be used varied depending on the application. For example, for asmall scale model of a hoverboard configured to carry a doll, a ⅛ inchsheet of copper may be more than sufficient. As another example, a trackwith a thinner amount of conductive material can lead to less efficientlift generation as compared to track with a thicker amount of a moreconductive material. However, the cost of the conductive material can betraded against the efficiency of lift generation.

A substrate 14 can include a portion which is configured to supportinduced eddy currents. In addition, it can include portions used to addmechanical support or stiffness, to provide cooling and/or to allow atrack portions to be assembled. For example, pipes or fins can beprovided which are configured to remove and/or move heat to a particularlocation. In another example, the substrate 14 can be formed as aplurality of tiles which are configured to interface with one another.In yet another example, the portion of the substrate 14 which is used tosupport the induced eddy currents may be relatively thin and additionalmaterials may be added to provide structural support and stiffness.

In various embodiments, the portion of the substrate 14 used to supportinduced eddy currents may be relatively homogenous in that itsproperties are substantially homogeneous in depth and from location tolocation. For example, a solid sheet of metal, such as silver, copper oraluminum can be considered substantially homogenous in it's in depthproperties and from location to location. As another example, aconductive composite material, such as a polymer or composite, can beused where the material properties on average are relatively homogeneousfrom location to location and in depth.

In other embodiments, the portion of the substrate 14 used to supportthe induced eddy currents can vary in depth but may be relativelyhomogeneous from location to location. For example, the portion of thesubstrate 14 which supports the eddy currents can be formed from a basematerial which is doped with another material. The amount of doping canvary in depth such that the material properties vary in depth.

In other embodiments, the portion of the substrate 14 which supports theeddy currents can be formed from layers of different materials. Forexample, an electric insulator may be used between layers of aconductive material, such as layers of copper insulated from oneanother. In another example, one or more layers of a ferromagneticmaterial can be used with one or more paramagnetic materials ordiamagnetic materials.

In yet another example, the surface of the substrate 14 which supportsthe eddy currents can include a surface structure, such as raised orsunken dimples which effect induced eddy currents or some other materialproperty. Thus, from location to location there may be slight variationsin material properties but averaged over a particular area the materialproperties may be relatively homogeneous from location to location.

An advantage of having relatively homogeneous material properties fromlocation to location is that the lift and drag which are generated onaverage will be relatively the same independent of which direction thehoverboard translates along the surface. In other embodiments, thematerial properties can be varied from location to location to changethe local lift and drag characteristics associated with the hoverboardas it moves in a particular direction. Configurations where the materialproperties vary can be used to challenge the rider and make the ridemore interesting. For example, tiles with different material propertiesmight be interlinked, such as copper and aluminum tiles, to simulate aneffect such as moguls in skiing.

In another example, the track can be thinned out in certain location.The effect of a thinner track can result in the local lift to drop andthe amount of drag to increase. Imbalances in drag forces output from aSTARM can be used to generate translational forces which propel ahoverboard. Thus, a local increase in drag resulting from a localthinning of the portion of the substrate 14 can be used to provide alocation translational speed boost. This speed boost might be usedbefore an upward slope or on upward slope to help the hoverboard or someother type of electromagnetic lifting device to climb the slope.

In one embodiment, a section, such as 18, of the portion of thesubstrate which supports the induced eddy currents can be configured torotate. The rotation of the section can be driven by a motor locatedbeneath the substrate. For example, a circular disk, whose top is flushwith the top of the surrounding substrate, can be configured to rotatewhile the surrounding substrate remains in a fixed position.

As will be discussed in more detail below with respect to FIGS. 2-4C,the properties of the induced eddy currents depend on the motion of themagnets relative to the portion of the substrate which supports theinduced eddy currents. Thus, a change in the relative motion between themagnets and the substrate can change the local lift and drag propertiesoutput from a hover engine. For example, the rotation of the substratecan be used to locally enhance lift and drag or locally reduce lift anddrag on the portion of the substrate which is rotating.

In one embodiment, a plurality of sections of the substrate can beconfigured to rotate. The plurality of sections can be configured toalign with one or more hover engines of a hoverboard, i.e., the hoverengine can be placed over the top of the rotating section. For example,a hoverboard can include four hover engines and four sections ofrotating substrate can be provided which align with the four engines. Inanother example, a hoverboard can include eight hover engines and foursections of rotating substrate can be provided which align with onlyfour of the hover engines.

A section of rotating substrate can be used in conjunction with a hoverengine during a start-up phase where a hover engine is at rest and itsSTARM is not rotating. In one embodiment, the rotating substrate can beoperated to reduce the drag torque a motor experiences during start-up.As described in more detail with respect to FIG. 4A, starting from rest,the drag can increase with increasing RPM, reach a peak, and thendecrease with increasing RPM. As described with respect to FIG. 4B, liftand drag decrease exponentially as the distance of the hover engine fromthe surface of the substrate increases. Thus, the rotating substrate canbe used to help overcome the start-up conditions when the RPM is low anddrag is high and/or when the hover engine is close to the surface anddrag is high.

An advantage of this approach is that may lessen the torque requirementsassociated with the motor. The lower torque requirements may allow aless powerful motor to be used. A less powerful motor may provide moreflight time because less power is expended by the motor during start-upand the motor may weigh less.

For example, one or more rotating sections of the substrate can be spunup in a direction opposite of the direction that the hover engine spins.Initially, the hover engine may remain at rest. In one embodiment, thesubstrate can be rotated fast enough to generate lift, such as spun upto the operational RPM of the hover engine. Then, the hover engine canbe spun up while the substrate is spun down such that a constantrelative RPM is maintained between the substrate which supports theinduced eddy currents and the magnets in the hover engine. When theselected constant relative RPM is greater than the RPM where the peakdrag torque occurs, then the maximum drag torque experienced by themotor will be less than if it was spun up over a non-rotating surface.

If enough lift is generated by the rotating substrate, the hoverboardwill rise to a particular height before the motor is started. Asdescribed above, the drag torque can drop exponentially with distancefrom the surface. If the hover engine is started after the particularheight is reached, the maximum torque experienced by the hover enginewill have dropped exponentially depending on the actual height which hasbeen reached.

In a particular embodiment, an enclosure can be provided around one ormore portions of substrate which rotate. A hoverboard can be placed inthe enclosure and lifted as a result of the rotation of the substrateand then the hoverboard engines can be started such that the lift forcegeneration is transferred from the rotating substrate to the hoverengines. The enclosure can keep the hoverboard in position during thisprocess. Then, a rider can then step on the hoverboard and one end ofthe enclosure can be opened to allow the hoverboard to depart from theenclosure.

The process described above can be used in reverse to lower thehoverboard to a resting position. First, all or a portion of the liftforces can be transferred from the hover engines to the rotatingsubstrate by spinning down the hover engines while spinning up therotating substrate. During this process, the hoverboard may hover atapproximately a constant height. As described above, the transfer mayinvolve having the rotating substrate generate all or a portion of therelative velocity between the magnets of the hover engine and thesubstrate. Then, the hover engines alone or in combination with therotating substrate can be used to lower the hoverboard to a position onthe ground where the hover engines are brought to rest.

In one embodiment, a logic device, such as an on-board processor, on thehoverboard can be configured to communicate with a logic device whichcontrols the rotation rate of one or more sections or rotatingsubstrate. The devices can communicate to allow some relative RPMprofile to be generated. In one embodiment, the logic device on thehoverboard or the logic device controlling the rotating substratesections may be configured to temporarily control the hover engines andthe rotating substrate sections to implement a relative RPM profile. Inanother embodiment, the logic device can be configured to sample therotation rates of the various rotating components and develop RPMprofile in real-time.

In another embodiment, the logic device on the hoverboard can beconfigured to implement a start-up RPM profiles for its hover engineswhere this profile is implemented in response to receiving a commandfrom a remote device or detecting an actuation of a mechanical device,such as a switch or button. The logic device controlling the rotatingsections of the substrate can also be configured with one or morestart-up RPM profiles where a start-up profile is implemented inresponse to receiving a command from a remote device or detectingactuation of a mechanical device, such as switch or button. Thehoverboard and rotating sections of substrate can be each commanded toenter into a start-up mode in some order to generate a relative RPMprofile between the hoverboard and the one or more sections of rotatingsubstrate.

Various relative rotational rate profiles can be generated between ahover engine and a section of rotating substrate. Thus, the example ofspinning up a section of rotating substrate to an operational rotationrate of the hover engine while the hover engine remains at rest and thenmaintaining a constant relative rotation rate between the devices as thehover engine spins up is provided for the purposes of illustration onlyand is not meant to be limiting. For example, a hover engine and arotating substrate can be operated to generate a relative rotation rateprofile with a peak that is greater than the operational rotation rateof the hover engine. The maximum relative rotation rate can be firstgenerated and then devices can be controlled such that the operationalrotation rate is approached from above as the rotation rates of eachdevice are adjusted.

Returning to FIG. 1, the person can control the hoverboard 12 byshifting their weight and their position on the hoverboard. The shift inweight can change the orientation of one or more of the hover engines 16relative to the surface of the track 14. The orientation can include adistance of each part of the hover engine from the track. Theorientation of each hover engine, such as 16, relative to the surface ofthe track can result in forces parallel to the surface being generated.Further details, related to the orientation of a hover engine and theassociated forces which are generated are described with respect toFIGS. 5A, 5B, 6 and 7 and 24 and 25.

The net force from the hover engines 16 can be used to propel thevehicle in a particular direction and control its spin. In addition, theindividual may be able to lean down and push off the surface 14 topropel the hoverboard 12 in a particular direction or push and then jumponto to the hoverboard 12 to get it moving in a particular direction.

In other embodiments, as described in more detail with respect to FIGS.9-15, mechanisms can be provided which allow the direct control of oneor more hover engines separately from the other hover engines. Thecontrol mechanisms can be analog, digital or combinations thereof. Ananalog control mechanism can receive a user supplied force. In themechanism, the user supplied force can be transferred to the hoverengine such that the user supplied force affects an orientation of thehover engine. The orientation of the hover engine can cause a force tobe generated in a particular direction.

A digital control mechanism can be configured to detect a movement of aperson or a movement of a device by the person. For example, a movementof a person's head, arms or a device held by a person can be detected ora pressure exerted on a sensor in a person's shoe or on the hoverboard12 can be detected. In one embodiment, multi-axis accelerometer systemcan be used to detect and quantify an amount of movement. In anotherembodiment, a camera system can be used to detect and quantify an amountof movement. In yet other embodiments, an optical system, such as alaser system, can be used, to detect position and quantify an amount ofmovement. Further, wireless systems, which employ triangulation,including GPS can be employed.

The movement or the detected pressure can be converted to a controlsignal by an onboard processor. The control signal can be sent to acontroller, separate from the onboard processor, associated with one ormore actuators coupled to a hover engine or a group of hover engines.The control signal can cause the controller to operate the actuators ina manner which changes the orientation of the hover engine.

Digital or analog controls can also be used to control operatingparameters of a motor associated with the hover engine. In particular,the power received by the motor and its associated RPMs can becontrolled. As is described with respect to FIG. 4, the relative amountof lift and drag generated by a hover engine can be changed in responseto a change in an RPM value associated with a hover engine. Next,examples of magnet arrangements, which can be used with a hover engine,are described with respect to FIGS. 2 and 3.

FIGS. 2 and 3 are illustrations of eddy currents generated on aconductive plate in response to arrangements of magnets rotated abovethe plates. The conductive plate is the portion of the substrate whichis configured to support induced eddy currents. The eddy currents andassociated forces which are generated were simulated using Ansys Maxwell3D (Canonsburg, Pa.). In each of the simulations, an arrangement ofmagnets is rotated at 1500 RPM at ½ inches height above copper plates 56and 64, respectively. The copper plates are modeled as ½ inch thick. Theplate is modeled as being homogeneous in depth and from location tolocation. The width and length of the plate is selected such that edgeeffects that can occur when a STARM induces eddy currents near the edgeof the plate are minimal.

The magnets are one inch cube Neodymium alloy magnets of strength N50,similar magnets can be purchased via K and J magnetics (Pipersville,Pa.). The magnets weigh about 3.6 ounces each. Magnets of differentsizes, shapes and materials can be utilized and this example is providedfor the purpose of illustration only.

In FIG. 2, eight one inched cube magnets, such as 50, are arranged withan inner edge about two inches from the z axis. The magnets are modeledas embedded in an aluminum frame 52. The arrow head indicates the northpole of the magnets. The polarities of four of the magnets areperpendicular to the z axis. The open circle indicates a north pole of amagnet and circle with an x indicates a south pole of a magnet. Apolarity pattern involving four magnets is repeated twice.

In various embodiments, the polarity pattern of the magnets shown in thefigure can be repeated one or more times. One or more magnets ofdifferent sizes and shapes can be used to form a volume of magnets whichmatch a polarity direction associated with a polarity pattern. Forexample, two one half inch wide rectangular magnets with a total volumeof one cubic inch or two triangular magnets with a total volume of onecubic inch can be aligned in the same direction to provide a polaritydirection in a polarity pattern. In the polarity pattern, a magnets witha polarity direction different than an adjacent magnet may touch theadjacent magnet or may be separate from the adjacent magnet.

For a given number of magnets of a particular cubic size, the distancefrom the z axis of the face of the magnets can be adjusted such that themagnet's edges are touching or are a small distance apart. With thisexample using eight magnets, an octagon shape would be formed. Aconfiguration of twenty one inch cube magnets arranged around a circlewith the polarity pattern shown in FIG. 2 repeated five times isdescribed with respect to FIGS. 8A and 8B. The inner edge of thisarrangement of magnets is about 3.75 inches from the rotational axis.

When the magnets are brought together, the magnitude of the lift anddrag which is generated per magnet can be increased relative to when themagnets are spaced farther apart. In one embodiment, trapezoidal shapedmagnets can be utilized to allow the magnets to touch one another whenarranged around a rotational axis. A different trapezoidal angle can beused to accommodate different total number of magnets, such as fourmagnets (90 degrees), eight magnets (45 degrees), etc.

A combination of rectangular and triangular shaped magnets can also beused for this purpose. For example, triangular magnets can be placedbetween the cubic magnets shown in FIG. 2. In one embodiment, thepolarity pattern for groups of four trapezoidal magnets or combinationsof rectangular and triangular magnets can be similar to what is shown inFIG. 2.

When the arrangement of eight magnets is rotated above the copper plate,eddy currents are induced in the copper. In the example of FIG. 2, thesimulation indicates four circular eddy currents 56 are generated. Thefour eddy currents circle in alternating directions and areapproximately centered beneath the circulating magnets. A currentcirculating in a circular coil generates a magnetic field which lookslike a magnetic field of a bar magnet where the orientation(north/south) depends on the direction of the current. The strength ofthe magnetic field which is generated depends on the area of thecircular coil and the amount of current flowing through the coil.

A reaction occurs where the circulating eddy currents generate amagnetic field which repels the arrangement of magnets such that alifting forces and drag forces are generated. The eddy currents rotateas the magnets rotate. However, the eddy currents are not directlyunderneath the four magnets aligned with the z axis. Thus, the eddycurrents can generate a magnetic field which attracts one of the polesof permanent magnets to which it is adjacent. The attractive force canact perpendicular to the lift to produce drag, which opposes a movementof the magnets. The drag can also be associated with a torque. The dragtorque is overcome by an input torque supplied by a motor coupled to thearrangement of magnets.

In this example, there are not well defined circuits. Thus, one eddycurrent can interact with an adjacent eddy current. The interactioncauses the magnitude of the current to increase at the interface betweeneddy currents such that magnitude of the current varies aroundcircumference of each eddy current. Further, the current also varies indepth into the material with the greatest current per area occurring atthe surface and then decreasing in depth in to the surface.

In addition, unlike circuits with a fixed position, the center of theeddy currents rotate as the magnets inducing the currents rotates.Unlike when a magnetic is moved linearly over a conductive material,separate eddy current forms in front of and behind the magnet. In thisexample, the four poles (magnets with north and south perpendicular tothe surface of the plate) are close enough such that the eddy currentformed in front of one pole merges with the eddy current formed behindthe next adjacent pole. Thus, the number of eddy currents formed isequal to the number of poles which is four. In general, it was observedfor this type of configuration that the number of eddy currents whichformed was equal to the number of poles used in the magnetconfiguration.

In addition, material interfaces can affect the induced eddy currentssuch that an amount of lift and drag which is generated is differentnear the interfaces as opposed to away from the interfaces. For example,a surface on which eddy currents are induced can have edges where thematerial which supports the induced eddy currents ends. Near theboundaries, when a STARM approaches an edge, the eddy currents tend toget compressed which affects the resultant lift and drag.

In another example, a surface can have interfaces through which thereare discontinuities in the conductivity. For example, edges of twoadjacent copper sheets used to form a surface may not touch, maypartially touch or may be conductively insulated from one another. Thediscontinuous conductivity can lessen or prevent current from flowingacross the interface which affects the lift and drag generated from theinduced eddy currents.

In one embodiment, a substrate which supports induced eddy currents canbe formed from a number of sheets which are stacked in layers, such ⅛inch copper sheets stacked on top of one another. A discontinuity may beformed in one layer where two adjacent sheets meet, such as small gapsbetween the two sheets which reduce the current which flows from a firstsheet to an adjacent second sheet. The gaps may allow for thermalexpansion and simplify the assembly process. To lessen the effect of thediscontinuity, adjacent edges between sheets can be staggered from layerto layer. Thus, the discontinuity at particular location may occur inone layer but not the other adjacent layers.

In some instances, a conductive paste can be used to improve theconductivity between sheets. In another embodiment, adjacent sheets canbe soldered together. In yet another embodiment, flexible contacts,which can be compressed and then expand, can be used to allow current toflow between different sheets.

In FIG. 3, a three row by five column array of one inch cube magnets,such as 60, is rotated above a copper plate. The magnets are modeled assurrounded by an aluminum frame 62. The magnets in this example areconfigured to touch one another. A magnet pattern for each row of fivemagnets is shown. In alternate embodiment, a five magnet pattern of opencircle, left arrow (pointing to open circle), circle with an “x”, rightarrow (pointing away from circle with an x) and open circle can be used.This compares to the left arrow, circle with an “x”, left arrow, opencircle and right arrow pattern shown in the Figure.

The magnet pattern is the same for each row and the magnet polarity isthe same for each column. In various embodiments, a magnet array caninclude one or more rows. For example, a magnet array including only onerow of the pattern shown in FIG. 3 can be used.

Multiple arrays with one or more rows can be arranged on a rotatingbody, such that the rotating body is balanced. For example, magnetarrays of two, three, four, etc. arrays of the same number of magnetscan be arranged on a rotating body. In another embodiment, two or morepairs of magnet arrays with a first number of magnets and two or morepairs of magnets arrays with a second number of magnets can be arrangedopposite one another on a rotating body.

In the example of FIG. 3, two eddy currents, 66, are generated under themagnet array and two eddy currents 70 and 68 are formed ahead and behindthe array. These eddy currents move with the array as the array rotatesaround the plate. As the array is moved over the plate 64, eddycurrents, such as 72 spin off. The eddy currents 66, 68 and 70 generatemagnetic fields which can cause magnetic lift and drag on the array.When two of these types of arrays placed close to one another, thesimulations indicated that the eddy current induced from one array couldmerge with the eddy current induced from the other array. This effectdiminished as the arrays were spaced farther apart.

In the examples of FIGS. 2 and 3, the simulations indicated that morelift force was generated per magnet in the configuration of FIG. 3 ascompared to FIG. 2. Part of this result is attributed to the fact that aportion of the magnets in FIG. 3 is at a greater radius than the magnetsin FIG. 2. For a constant RPM, a greater radius results in a greaterspeed of the magnet relative to the conductive plate which can result inmore lift. If it is desirable to arrange the magnets around a motor asshown in FIGS. 8A and 8B and use a disk of smallest diameter, then theconfiguration in FIG. 2 is more suitable. Thus, in some embodiments, itmay be desirable to trade lift generating efficiency for packingefficiency when selecting an arrangement of magnets to utilize.

The lift per magnet can be total lift divided by the total magnet volumein cubic inches. For one inch cube magnets, the volume is one cubicinch. Thus, the total number of magnets is equal to the volume in cubicinches. Hence, the use of lift force per magnet in the previousparagraph. The use of total lift divided by the magnet volume of amagnet arrangement provides one means of comparing the lift efficiencyof different magnet arrangements. However, as noted above, the speed ofthe magnet relative to the substrate, which is a function of radius andRPM, effects lift and hence may be important to consider when comparingmagnet configurations.

In FIGS. 2 and 3, a portion of the magnet poles in the magnet polaritypattern are aligned such that the poles are parallel to an axis ofrotation of the STARM (The poles labeled with “x” or “o” in theFigures). When the bottom of a STARM is parallel to a surface whichsupports the induced eddy currents, the portion of the magnet poles andthe axis of rotation are approximately perpendicular to the surface. Inan alternate embodiment, as described in more detail with respect toFIGS. 24 and 25, the portion of the magnet poles in FIGS. 2 and 3 whichare substantially parallel to the rotation axis can be rotated ninetydegrees inwards or outwards such the magnet poles become perpendicularto the axis of rotation.

In this configuration, to interact with a surface, a STARM can berotated on its side, like a tire riding on a road, where the axis ofrotation is approximately parallel to the surface. In particularembodiments, a mechanism, such as an actuator, can be provided which candynamically rotates one or more of the magnet poles (again, “x” and “o”labeled magnets) during operation. For example, the magnet poles shownin FIGS. 2 and 3 may be rotatable such that they can be moved from anorientation where they are perpendicular to the surface as shown inFIGS. 2 and 3 to an orientation where they are parallel to the surfaceand back again. When the magnets are turned in this manner, the amountof lift and drag which are generated can be reduced. In additionalembodiments, fixed magnet configurations can be utilized where themagnet poles shown in FIGS. 2 and 3 are rotated by some angle betweenzero and ninety degrees relative to their orientation in the FIGS. 2 and3.

FIG. 4A includes a plot 100 of lift 106 and drag 108 curves associatedwith an arrangement of rotating magnets in accordance with the describedembodiments. The curves are force 102 versus rotational velocity 104.The curves can be determined via experimental measurements and/orsimulations. It is noted the magnetic lift and drag is separate from anyaerodynamic lift and drag which may be associated with the rotation ofmagnet arrangement associated with hover engine.

Although not shown, an amount of torque can be determined and plotted.As shown in FIG. 2, an array of magnets can be radially symmetric. Insome instances, such as when a radially symmetric array is parallel tothe conductive substrate, the net drag force may be zero. Nevertheless,a torque which opposes the rotation of the array is generated. Therotational input from a motor can be used to overcome the torque.

As shown in FIG. 4A, the magnetic drag increases as velocity increases,reaches a peak and then starts to decrease with velocity. Whereas, themagnetic lift increases with velocity. The velocity can be the velocityof the magnets relative to the surface which induces the eddy. When themagnets are rotating, this velocity is product of a distance from theaxis of rotation times the angular velocity. The velocity can varyacross a face of a magnet as distance from the axis of rotation variesacross the face of the magnet.

In various simulations of a magnet configuration shown in FIG. 3, themost drag was observed to occur between 250 and 350 RPM. However, theamount of drag including its peak can depends on such variables as thesize and the shape of the magnets, a distance of the magnets from thesubstrate in which the eddy currents are induced, a speed of the magnetsrelative to the substrate which changes as a function of radius and athickness of the substrate and a strength of the magnets. Also, for anarrangement of a plurality of magnets, the arrangement of their polesand spacing relative to one another can affect both the lift and drag,which is generated. Thus, the value range is provided for the purposesof illustration only.

FIG. 4B is a plot of force 102 associated with an arrangement ofrotating magnets as a function of distance 110 from a conductivesubstrate. In this example, a configuration of magnets similar to shownin FIG. 3 was simulated. The plot is based upon a number of simulationsat a constant RPM. The lift appears to follow an exponential decay curveas the distance from the surface 110 increases.

FIG. 4C is a plot of lift curves associated with an arrangement ofrotating magnets as a function a thickness of a conductive substrate andRPM. In this example, a configuration similar to what is shown in FIG. 3was used. The conductive substrate is copper and thickness of the copperis varied between 0.05 and 0.5 inches in the simulation.

The simulations predicted that the amount of generated lift begins todecrease after a certain threshold thickness of copper is reached and isrelatively constant above the threshold. The location of the thresholdvaries as a function of RPM. It may also vary according to the magnetconfiguration. In one simulation, negative lift was predicted, i.e., anattractive force was generated when the thickness was thin enough.

FIGS. 5A and 5B are block diagrams illustrating hovering and propulsiveeffects from rotating arrangements of magnets. In FIG. 5A, a motor 122is coupled to a STARM 124. The rotatable components with magnets can bereferred as a STARM (STator and ARMature). The motor 122 and STARM canbe used as part of a hover engine.

The STARM 124 is coupled to the motor 122 and the motor 122 is coupledto a rotatable member 128. The rotatable member 128 is coupled toanchors 126 a and 126 b. The combination of the rotatable member 128 andthe anchors 126 a and 126 b can be configured to constrain a range ofrotation of the rotatable member. For example, the rotatable member 128may be allowed to rotate through some angle range 134 around its axis.

The rotatable member 128 can be configured to receive and input torquefrom some mechanism. For example, in one embodiment, a mechanicallinkage can be provided which allows a user to supply a force. The forcecan be converted into torque which causes the rotatable member 128 andhence the motor 122 and the STARM 124 to rotate.

In another embodiment, an actuator can be used to supply the torque torotate rotatable member 128. An actuation of the actuator can cause themotor 122 and STARM 124 to tilt relative to the substrate 136. Theactuator can include a servo motor which receives control commands froma controller. In one embodiment, the actuator can include its owncontroller which receives control commands from a separate processor,which is part of the control system.

In yet another embodiment, a hover engine can be configured to receivean input force from a user and can include an actuator. The actuator canbe used to change a position of the STARM, such as returning it to adesignated position after a user has tilted it. In another operationmode, the actuator can be used to provide automatic control around sometilt position initiated by user via an input force.

It yet another embodiment, the actuator can be used to provide automaticcontrols which may be used to correct a control input from a user. Forexample, if the control system detects that the board is about to slideout from underneath the user after a user provides a control input, thecontrol system can control one or more STARMs to prevent this event fromhappening. The hoverboard can include one or more on-board sensors usedto make these corrections.

For example, sensors, such as accelerometers, which measuretranslational and rotational accelerations, can be used to determine anorientation of the hoverboard and/or a position of a user relative tothe hoverboard, which is used to generate an orientation correction inresponse to the user control input. In one embodiment, a first set ofsensors, such as accelerometers, can be worn by a user, such as at theirwaist and a second set of sensors, such as accelerometers, can belocated on the hoverboard. A processor, such as one onboard thehoverboard can be configured to receive the sensor data. The sensor datacan be used to determine an orientation of the hoverboard relative tothe person and possibly to make adjustments to a hover engine.

The hoverboard may also include one or more weight sensors fordetermining where a user is standing on the hoverboard. The weightdistribution associated with the hoverboard and rider can affect theresponse of the hoverboard in response a command to change anorientation of the hoverboard via some mechanism, such as a tiltablehover engine. For example, the weight distribution associated with wherea person is standing effects the magnitude of rotational moments. Thus,knowledge of the weight distribution may be used to more finely tune thecommands used to control the orientation of the STARM, such as selectingwhich STARM to actuate and an amount to actuate it.

In one embodiment, a user riding the hoverboard can control actuation ofthe actuator via some action, such as a body movement or interactionwith a control device, such as a foot pedal or control stick. The bodymovement or interaction with the control device can be translated by anon-board processor into one or more commands which are sent to thecontroller associated with the actuator. In response, the actuator canrotate the rotatable member by some amount.

As an example, the body movement can be characterized via a sensor in adevice worn or held by the person. The data received from the sensor canbe processed locally in the device worn or held by the person and/or viaan onboard processor associated with the hoverboard. The processed datacan be used to generate control commands which are sent to one or moreactuators, which can tilt a STARM, or some other mechanism forgenerating a propulsive force.

In additional embodiments, a rider doesn't necessarily have to stand onthe hoverboard. For example, a rider can sit on the board, lie on theirback on the board or lie on their stomach on the board. Controlmechanisms can be provided which enable a rider to control the board inthese positions. In addition, structure can be provided which helpsupport a rider in one of these positions. For example, a seat can becoupled to the hoverboard.

When the STARM 124 and motor 122 are rotating, a rotation of therotatable member 128 changes the angular momentum of the STARM and themotor. It can also change the magnetic forces acting on the STARM 124 asthe magnetic forces vary with the distance of the magnets in the STARM124 from the substrate 136. Therefore, the amount of torque needed torotate the member 128 can depend on the moment of inertia associatedwith the STARM 124 and motor 122, how fast the STARM 124 and motor 122are spinning and the height of the STARM 124 above the substrate 136.The height of the STARM above the substrate can depend on its velocity,which affects how much lift is generated as well as a payload weight,i.e., the weight of a hoverboard rider and how the riders' weight isdistributed on the hoverboard. The height of the STARM above thesubstrate can vary for different portions of the STARM and from STARM toSTARM when a hoverboard includes multiple STARMs.

In the example of FIG. 5A, the STARM 124 is approximately parallel tothe substrate 136. The magnetic drag, such as 132 a and 132 b, opposesthe rotation of the STARM 124. The motor 122 is configured to rotate inthe clockwise direction 130. Thus, the drag torque is in the counterclockwise direction. Power is supplied to the motor 122 to overcome thedrag torque.

When the STARM is parallel to the substrate 136, the magnetic drag isbalanced on all sides of the STARM 124. Thus, there is no nettranslational force resulting from the magnetic drag. As is describedwith respect to FIG. 5B, a net translational force is generated when theSTARM 124 is tilted relative to the substrate.

In FIG. 5B, the STARM 124 is in a titled position 140. Thus, one side ofthe side of STARM 124 is closer to the substrate 136 and one side of theSTARM 124 is farther away from the substrate 136. The magneticinteraction between the magnets in the STARM 124 and substrate decreasesas a distance between the magnets in the STARM and substrate 136increases. Thus, in tilted position 140, the drag force 138 b isincreased on one side of the STARM 124 and the drag force 138 a isreduced on the opposite side of the STARM 124 as shown in FIG. 5B. Thedrag force imbalance creates traction, which causes a translationalforce to be generated approximately in the direction of the axis ofrotation of the rotational member 128.

When the STARM 124 is initially tilted, the translational force canresult in an acceleration of the STARM 124 in the indicated directionand hence change in velocity in the indicated direction. In particularembodiments, with one or more STARMs configured to generatetranslational forces, a hoverboard can be configured to climb. Inanother embodiment, the hoverboard may be configured to maintain itsposition on a slope while hovering such that the gravitational forcesacting on the rider and the board are balanced by the translationalforces generated by the hoverboard and its associated hover engines.

A configuration and operational mode where a position of the hoverboardis maintained on a sloped substrate may be used as part of a virtualreality system where a rider wears a virtual reality headset. Via theheadset, the user may only see images generated by the headset or maysee images generated by the headset in conjunction with the localsurrounding visible to the user. A virtual reality headset may be usedto generate images of a user moving through some terrain, likes a snowyslope, while the hoverboard moves side to side and forward and back onthe sloped substrate. The sloped substrate may provide the user with thefeeling of moving on a tilted slope while the virtual reality images mayprovide the visual imagery associated with movement. Fans may be used toadd an additional sensation of movement (e.g., the feeling of wind on aperson's skin).

The hoverboard can have sufficient propulsive ability to allow it tohold its position on the slope against the force of gravity. Forexample, the hoverboard can be moved side to side while it maintains itsposition on the slope. Further, the hoverboard may be able to movedownwards on the slope and then climb upwards on the slope againstgravity. In some instance, the climbing can be done while the board'sorientation remains relatively unchanged, i.e., the board doesn't haveto be turned around to climb. This maneuver can be accomplished bychanging an orientation of the hover engines relative to the substratewhich supports the induced eddy currents.

Returning to FIGS. 5A and 5B the amount of tilt in a particulardirection can affect the amount of force imbalance and hence themagnitude of the acceleration. Because the magnetic drag is function ofthe distance of the magnets from the substrate, the magnetic dragincreases on the side closer to substrate and decreases on the sidefather away from the substrate. As the magnetic forces vary non-linearlywith the distance of the magnets from the surface, the amount oftranslational forces which are generated may vary non-linearly with thetilt position of the STARM.

After a STARM 124 (or both the STARM 124 and motor 122) has been rotatedvia member 128 in a counter clockwise direction and the STARM hasstarted translating in a first direction, an input torque can beprovided which tilts the STARM in a clockwise direction to reduce theamount of translational force which is generated by the STARM. When theSTARM is tilted past the horizontal in the clockwise direction, theSTARM may generate a translational force which is in an oppositedirection of the first direction. The translational force opposing thedirection of motion can slow the STARM and bring it to rest. If desired,the translational force can be applied such that the hoverboard stopsand then the STARM can begin to translate in an opposite direction.

Hoverboard and Hover Engine Configurations

With respect to FIGS. 6-25, a number of configurations of a hoverboardwith hover engines are described. In particular, hover engineconfigurations and their integration into a hoverboard system aredescribed. In addition, a number of different mechanisms, which enable aforce to be transferred to a hover engine to cause an orientation of thehover engine to change, are described.

FIG. 6 is a bottom view of a hoverboard 200 with hover engines withmechanisms which provide for tilting along a specified axis. The hoverengines are coupled to a support structure 202. In one embodiment, thesupport structure 200 may also be used to provide a rider platform. Thehoverboard 200 includes four hover engines, such as 206. The hoverengines each include a motor (not shown) and a STARM 204.

A location 212 of a center of mass of the hoverboard 200 is shown. Thislocation can denote the location when the hoverboard is unloaded, i.e.,it doesn't include a rider. When a rider is riding the hoverboard 212,the individual can change their position on the hoverboard to shift thelocation of the center of mass and hence change various rotationalmoments associated with the hoverboard 200. Thus, the location 212 isshown for illustrative purpose only and is not meant to be limiting.

An axis 208 is shown drawn through the center of mass 212. A rider canshift their weight such that a moment is generated and the hoverboard200 tilts around an axis, such as 208. The rider can change shift theirweight in many different ways which can result in a moments in differentdirections being generated and a corresponding tilt of the board alongdifferent axes. Thus, the example of axis 208 is shown for illustrativepurposes only.

In particular embodiments, a rider may be able to freely move theirposition over a top surface of the hoverboard 200. In anotherembodiment, the hover board can include foot restraints of some type,such as a strap which a rider can insert their feet through. When arider's feet are constrained, the amount of movement of the center ofmass and the possible moments which are generated may also beconstrained.

A change in position can cause the hoverboard to tilt. The change caninclude a dynamic component where the hoverboard shifts betweendifferent orientations and then a relatively steady state orientationwhere the tilt position of the hoverboard is steady. Thus, the dynamicand steady state tilt position of the hoverboard can change the heightpositions of the hover engines relative to ground. The change in heightpositions can cause the hover engines to generate a net translationforce which allows the hoverboard to be propelled in a particulardirection.

While hovering, the lateral forces constraining the hoverboard can bevery small. Thus, when a person shifts their weight in a particulardirection, the hoverboard 200 will move in response and can slide outfrom underneath the person. Thus, the hoverboard can differ from adevice, such as a skateboard or ice skates, where the lateral movementis constrained, due to the friction generated between the wheels orblades, with the ground or ice.

In a particular embodiment, to provide an ability of a rider to controlforces on the hoverboard, the hoverboard can include one or more hoverengines each with a tilt mechanism which allows the hover engines to betilted in response to an input force generated by the rider. Asdescribed above, the input force can be used as part of an analog ordigital control system. Additional details of different tilt mechanismsare described with respect to FIG. 9-21. Alternate embodiments, wherethe orientation of the hover engines on the hoverboard are fixed, aredescribed with respect to FIGS. 22A-25.

In the example of FIG. 6, tilt axes, such as 216, are shown through eachSTARM, such as 204. A mechanism is provided which tilts each STARM aboutat least one axis. As described with respect to FIG. 14, a mechanism canbe provided which allows a tilt of the STARM about multiple axes. Thus,the example in FIG. 6 is provided for illustrative purposes only.

The tilt axes, such as 216, are used to describe a tilt of the hoverengine relative to the hoverboard 200, such as relative to a planeparallel to a top surface of the hoverboard. As described above, theentire hoverboard can also be tilted relative to a substrate. Forexample, the rider, by shifting their weight, can tilt the hoverboard200 about axis 210. Thus, the tilt of the hover engine, relative to thesubstrate and the associated height of the magnets in the hover engineabove the substrate at particular time, depends on both the tilt of thehover engine relative to the hoverboard and the tilt of the hoverboardrelative to the substrate.

In FIG. 6, the tilt axes, 216, are configured to provide lateral spincontrol. When a rider shifts their weight to one of the corners, thehoverboard 200 can tend to keep moving in the direction where the ridershifted their weight which can cause the board to slide out fromunderneath the rider. The tilt mechanism can be configured to generate aforce, such as 218, which negates this effect. Thus, the rider maycontinue to more easily ride board without falling off.

In the example of FIG. 6, the forces, such as 218, which result from atilt of a hover engine, are shown approximately perpendicular to a sideof the hoverboard 200 and parallel to the tilt axes, such as 216.Further, the tilt axes are all parallel to one another. In variousembodiments, the tilt axes don't have to be orientated in this manner,such as perpendicular to a side of the hoverboard 202 or all parallel toone another and this example is provided for illustrative purposes only.Thus, the tilt axis can be position at various angles relative to oneanother and the hoverboard 200.

In addition, not all of the hover engines may include tilt mechanismswhich allow the hover engine to be tilted relative to the hoverboard.Thus, the tilt of some hover engines may be rider (or system)controllable while other hover engines may be configured in a fixedposition and may not be tilted. For example, the hoverboard may includea large hover engine in the center which is configured for primarilygenerating lift and then may be surround by a plurality of smaller hoverengines which are used to generate control forces. The larger hoverengine can be installed in a fixed position such that its orientationrelative to the hoverboard doesn't change whereas the smaller hoverengines may be coupled to a tilt mechanism which allows them to tiltrelative to the hoverboard. Both the larger and the smaller hoverengines may be tilted relative to a substrate in response to dynamicchanges in the center of mass of the hoverboard and rider system. Anadvantage of this approach is that the smaller hover engines may have asmaller moment of inertia and hence may be more easily tilted about anaxis by a person or a by an actuator. In the case of the actuators, asmaller moment of inertia may allow for less powerful actuators to beemployed.

In yet another embodiment, the hoverboard 200 can include an automaticcontrol system. The automatic control system can be configured to detectmovement in a particular direction. An acceleration, a velocity or achange in a position may be detected using an on-board sensor package.In response, a logic device, such as an on-board processor, can beconfigured to actuate one or more tilt mechanisms as a function of timeto generate some complementary movement. For example, a shift in weightand a subsequent movement of the board can be detected. In response, theautomatic control system can actuate one or more of the tilt mechanismsas a function of time to keep the board from sliding out from underneaththe person.

In various embodiments, a tiltable hover engine may be moved only inresponse to rider inputs, moved only in response to commands from acontrol system or combinations thereof. For example, an actuator coupledto a hover engine can be configured to actuate in response to a controlinput generated by a rider at some times and at other times in responseto control input generated by a control system. The control system mayreceive input from a sensor package to generate control signals whichaugment the control inputs from the rider. Further, an orientation ofone or more first tiltable hover engines on a hoverboard may be onlycontrolled by a rider, such as via a manual actuation from the rider,whereas an orientation of one or more second tiltable hover engines,tilted via actuators, on the hoverboard may only be controlled by acontrol system implemented on a logic device on the hoverboard. Inanother embodiment, a single hover engine may be controlled in responseto user inputs at one time and then at another time be controlled basedupon commands generated by the control system, which are generatedindependently from the user. For example, the control system may beconfigured to shut down a hoverboard and bring it to rest independentlyof any direct control inputs provided by a user.

The tilt mechanisms can be coupled to the hover engine, such that theamount of force and the direction of the force can be varied over arange. For example, the tilt mechanism can be configured to cause aforce 218 which is only toward the vehicle in a range of zero to somemaximum value. In another embodiment, the tilt mechanism can beconfigured to generate a force which can be directed toward the vehicleor outward from the vehicle where the maximum value in each directionmay be substantially equal or the maximum value in one direction may begreater than the other direction. In yet another embodiment, which isdescribed with respect to FIG. 7 as follows, the tilt mechanism can beconfigured to generate a force which is between a minimum value greaterthan zero and a maximum value.

FIG. 7 is a side view of a hover engine 230 coupled to a tilt mechanismin a tilt position. The hover engine includes a motor 122 and a STARM124 which are positioned over the substrate 136. In one embodiment, themechanism can include a minimum tilt off set angle 234. The minimum tiltoff set angle 234 in this example is between the horizontal and line232. The tilt range angle 236 is the angle amount through which thehover engine may rotate starting at the minimum tilt off set angle 234.The tilt mechanism can include one or more structures which constrainthe motion of the tilt mechanism to the tilt angle range.

When the minimum tilt off set angle 234 is zero and the STARM 124 isparallel to the substrate 136, the STARM 124 may not generate a nettranslation force. As described above, during operation, a hoverboard towhich a STARM is coupled can be tilted. Therefore, the angle of theSTARM relative to the substrate can depend on the orientation of theSTARM relative to some reference system associated with the hoverboardand the orientation of the hoverboard relative to the substrate whereboth orientations can change as a function of time. Thus, in someinstances, a translation force can be generated even when the minimumtilt off-set is zero. When the minimum tilt off set angle is greaterthan zero, the STARM may generate a net translational force at itsminimum position in a particular direction. When the minimum tilt offset angle is less than zero, then during the tilt angle range themagnitude of the force may be go to zero and the direction of the forcewhich is generated can also change.

In some embodiments, the net minimum force generated by one hover enginecan be balanced in some manner via translational forces associated withother hover engines. For example, as shown in FIG. 6, two hover enginescan be tilted to generate forces in opposite directions to cancel oneanother. Thus, although the net force for a single hover engine may begreater than zero at its minimum tilt off set angle position, it can bebalanced by forces generated from another STARM such that the net forceacting on the hoverboard is zero.

The forces which are generated from a tilted STARM can vary non-linearlywith angle of the hover engine relative to the substrate. Thus, thechange in force which is generated as a function of a change in anglecan vary non-linearly. By utilizing, a minimum tilt angle offset, thehover engine can be configured to output more or less force in responseto a change in a tilt angle over a selected tilt angle range. In thismanner, the control characteristics of the hoverboard can be adjusted.

In one embodiment, the tilt mechanisms can include an adjustable tiltoff set mechanism that allows the minimum tilt off set angle to bemanually set. For example, a rotatable member with a protuberance can beprovided where the protuberance is configured to impinge on a screw atone end of its range of rotation. As the screw is unscrewed, the rangeof rotation of the rotatable member can be decreased and the minimumtilt off set angle can be increased and vice versa. Using the adjustabletilt off set mechanism, a user or operator may be able to manuallyadjust the handling characteristics of the hoverboard.

In other embodiments, the motor 122 and STARM 124 can be tilted up toninety degrees, such that side 152 is parallel to a top of the substrate136. The side 152 and a portion of side 150 can be covered to allowcontact the top of the substrate in this position. For example, a rubbertire can be used which covers side 152 and a portion of side 150. In yetanother embodiment, the STARM 124 can have additional magnets with poleswhich point outwards through side 152. In yet another embodiment, aportion of the magnets on STARM 124 can be rotatable to allow the magnetpoles to rotate from a position where they intersect side 150 to aposition where they intersect side 152. For example, the magnet polescan range from a position where they are perpendicular to side 150 to aposition where they are perpendicular to side 152.

FIG. 8A is a perspective view of a STARM 400. The STARM 400 is 10 inchesin diameter. In various embodiments, the STARMs used on a hoverboard canbe between four and fourteen inches in diameter. The STARM includes araised outer ring 405. A distance from a bottom of the STARM 400 to atop of the outer ring is about 1.13 inches. This height allows one inchcubed magnets to be accommodated. In one embodiment, twenty one inchcube magnets are arranged within the outer ring. In particularembodiments, the volume of magnets on the hoverboard, which can bedistributed among one or more STARMS, can be between thirty and eightycubic inches.

In one embodiment, the STARM 400 including the outer ring 405 can beformed from a number of layers, 402, 408, 410, 412, 404 and 414, fromtop to bottom, respectively. Layers 402 and 414 form a cover over thetop and bottom portions of the magnets in the outer ring. In oneembodiment, layers 402 and 408 are about 0.065 of an inch thick. Inalternate embodiment, one or both of layers 402 and 408 can beeliminated. In one embodiment, the top and bottom layers can be formedfrom a material such as aluminum. In another embodiment, the top layer402 can be formed from a material with magnetic properties, such asmu-metal, iron or nickel.

Layers 408, 410, 412, 404 each include twenty apertures to accommodatetwenty magnets. More or less magnets and hence more or less aperturescan be utilized and this example is provided for illustrative purposesonly. The total thickness of the layers is one inch and each layer is0.25 inch thick. In one embodiment, two layers are formed frompolycarbonate plastic and two layers are formed from aluminum. Thepolycarbonate plastic can reduce weight. In various embodiments, thethickness of each layer, the material used for each layer and the numberof layers can be varied. For example, different metals or types ofplastics can be used. As another example, a single material can be usedfor each of the layers.

When the layers are aligned, the one inch cube magnets can be insertedthrough the layers. For different shaped or different size magnets, suchas rectangular shaped magnets, trapezoidal shaped magnets or 1.5 cubicinch magnets, a different aperture shape or size can be used. In oneembodiment, an adhesive can be used to secure the magnets in place, suchas super glue. When secured, the bottoms of the magnets areapproximately flush with the bottom of layer 404. This feature canmaximize the height between the bottom of the magnets and the substratewhen a vehicle using the STARM design 400 is hovering.

One or more layers can include apertures, such as 416, that allowfasteners to be inserted. The fasteners can secure the layers together.In another embodiment, an adhesive can be used to secure one or more ofthe layers to one another. In alternate embodiment, the layers 404, 408,410 and 412 can be formed as a single piece.

FIG. 8B is a side view of STARM 420 with an embedded motor 422. Thecross sections of two magnets, 415, are shown within the outer ring 405.The top of the magnets is flush with the outer top of layer 408 and thebottom of the magnets is flush with the bottom of layer 404. In variousembodiments, the STARM 420 can be configured to receive magnets between0.5 and 2.5 inches of height.

In one embodiment, the top of the magnets may extend above the top ofthe 408. Thus, the outer ring 405 may only extend partially up the sidesof each magnet. This feature may allow the magnets to be secured inplace while reducing weight.

The inner radius 424 of the outer ring 405 is greater than a radius ofthe motor 422. Thus, the motor can be inserted within the outer ring andsecured to layer 404 such that the STARM 420 can be rotated when themotor is operated. Thus, the outer ring extends along the side 430 ofthe motor. An advantage of mounting the motor in this manner is that theoverall height profile of the hover engine may be reduced as compared tomounting the motor 422 at a height above the top of the outer ring.

In various embodiments, the height 428 height of the outer ring may beless than the height of the motor 426, such that the outer ring extendspartially up the side 430 of the motor 422. In another embodiment, theheight 428 of the outer ring 405 and the height of the motor can beapproximately equal. In yet another embodiment, the height 428 of theouter ring can be greater than the height of the motor.

It may be desirable to increase the height 428 to accommodate tallermagnets. Taller magnets may be used to increase the amount of magneticlift which is generated when the magnets, such as 415 are at a greaterdistance from a substrate. The volume of a magnet including its heightcan affect the strength of the magnetic field at a particular distancewhich extends from a magnet.

The motor, such as 422, used to rotate a STARM can be electric orcombustion based. In general, any type of motor which outputs a suitableamount of torque can be used. An electric motor requires a power source,such as battery or a fuel cell, to supply electricity. A combustionmotor requires a fuel which is combusted to operate the motor. Batterytypes include but are not limited to batteries with a lithium or zincanode, such as lithium ion, lithium polymer or a zinc-air system.

An electric motor can be configured to output torque about a rotationalaxis. The electric motor can include a configuration of wire windingsand a configuration of permanent magnets. Current is provided throughthe windings to generate a magnetic field which varies as a function oftime. The magnetic field from the windings interacts with magnetic fieldfrom the permanent magnets to generate a rotational torque. AC or DCmotors can be utilized, such as an induction motor or a DC brushlessmotor.

In various embodiments, the windings can be configured to rotate whilethe magnets remain stationary or the magnets can be configured to rotatewhile the windings remain stationary. An interface, such as a shaft, canbe provided which couples the rotating portion of the motor to the STARM400. In FIG. 8A, the STARM 400 is configured to interface with the motorat 406.

The non-rotating portion of the motor 422 can be integrated into a motorhousing which surrounds the magnets and the windings. The motor housingcan include an interface which enables it to be attached to one morestructures associated with the hoverboard. In another embodiment,non-rotating portion of the motor can include an interface which allowsit to be directly attached to one or more structures associated with thehoverboard.

In a particular embodiment, the core of the motor 422 can be stationarywhere both the magnets associated with the motor and the magnetsassociated with the STARM rotate around the stationary core. Onenon-rotating support structure can extend from the core which allows themotor and STARM to be coupled to the hoverboard. A second non-rotatingsupport structure can extend from the core which provides support to aportion of a shroud which is interposed between a bottom of STARM andthe substrate which supports the induced eddy currents (see FIG. 8C). Asis described in more detail with respect to FIGS. 17A-17E, variousshroud configurations may be used to surround a STARM.

The arrangement of magnets in the motor 422 can include poles which aresubstantially perpendicular to the axis of rotation of the motor (oftenreferred to as a concentric electric motor) or can include poles whichare substantially parallel to the axis of rotation of the motor (oftenreferred to as an axial electric motor). In one embodiment, a windingconfiguration, such as the winding configuration associated with anaxial motor, can be used to induce eddy currents in a substrate. Inthese embodiments, there are no rotating parts and the STARM and themagnets associated with an electric motor are eliminated. As part of ahover engine, the windings can be tilted relative to a hoverboard togenerate control forces in a manner previously described above withrespect to FIGS. 5A and 5B.

In yet another embodiment, the magnets associated with the motor 422 canbe removed and a motor winding can be designed which interacts directlywith the magnets in the STARM. For example, a winding can be placedabove magnets 415 to interact with the magnetic flux above the magnetsor a winding can be placed around the outside of magnets 415 or aroundthe inside of magnets 415. A current applied to the winding to cause theSTARM to rotate. As described above, rotation of the STARM can causeeddy currents to be induced in a portion of a substrate.

As an example, the motor 422 can include an outer ring configured torotate. The STARM 400 can mounted be to the outer ring of the motor 422instead of to a shaft extending from the center of the motor. This typeof motor design can be referred to as an outboard design. This featuremay allow the portion of layers 404 and 412 within the inner radius 424of the outer ring 405 to be removed such that the bottom of the motor iscloser to the bottom of the outer ring 405. One advantage of thisapproach is that the overall height of the STARM 420 and motor 422 maybe reduced.

In a particular embodiment, the outer ring 430 of the motor and theouter ring 405 of the STARM may be formed as an integrated unit. Forexample, the outer ring of the motor 422 can have a layer extendingoutwards from the side 430. The layer extending from the side 430 caninclude a number of apertures through which magnets can be inserted.Optionally, one or more layers with apertures, such as 408, 410 and 412,can be placed over the magnets.

In general, in a hover engine, the support structures associated withthe STARM, the stator of the motor, the shroud and housing can beintegrated with one another. For example, an enclosure for the motor andSTARM can include an integrated shroud. In another example, thestructure forming the rotor for the motor can be integrated with thestructure for the STARM. In another example, all or a portion of thestructure forming the stator of the motor can be integrated with ahousing and/or shroud associated with the hover engine.

FIG. 8C is a side view of a hover engine 450 having a STARM 465integrated with a motor in accordance. The hover engine 450 includes astationary core 456 with windings configured to interact with magnets460 to rotate the magnets. The core is attached to the support structure464. The support structure 464 can provide a first interface to attachthe hover engine to a hover board. In addition, the support structure464 can be coupled to a housing 452 which surrounds both motor and theSTARM 465. The support structure 464 may be used to help maintain a gapbetween the bottom of the STARM 465 and the housing 452.

In one embodiment, a small protuberance 466 may be provided at the endof support structure 464. The small protuberance 466 can be formed froma metal or a material with a low friction coating, such as a Tefloncoated material. The small protuberance can provide a small stand-offdistance when the hover engine is near the ground, such as duringtake-off and landing. It can help prevent the STARM 465 from impingingthe ground. In particular embodiments, the protuberance 466 can becoupled to a portion of the hover engine which rotates or a portionwhich remains static during operation.

The STARM 465 includes a structure 458 surrounds the magnets 454. Asdescribed above, the structure 462 surrounding magnets 460 and thestructure 458 surrounding magnets 454 can be formed as a single piece.The magnets 454 and 460 may be shaped differently and have differentsizes relative to one another.

In various embodiments, bearings (not shown) can be provided between thesupport structure 464 and the structure 458 to allow the STARM 465 torotate about the stationary core. In lieu of or in addition to bearingsbetween the STARM structure 458 and the support structure 464, bearingscan be provided at one or more locations between the housing 452 and thestructure 458. For example, bearings may be placed between the bottom ofthe STARM 465 and the housing 452 to help maintain the spacing betweenthe housing 452 and the STARM 465 on the bottom of the STARM. In anotherexample, a bearing may be placed between the side of the STARM and theside of the housing 452 to maintain the spacing between the inner sideof the housing 452 and the side of the STARM.

In one embodiment, the height of the hover engine can be less than threeinches. In another embodiment, the height of the hover engine can beless than two inches. In yet another embodiment, the height of the hoverengine can be less than one inch. Next details of a hoverboard includinga plurality of hover engines are described.

FIGS. 9, 10 and 11 are a bottom, top and side view of a battery poweredhoverboard 300. In FIG. 10, the hoverboard 300 includes four hoverengines, 304 a, 304 b, 304 c and 304 d. The hover engines are of equalsize and identical to one other, i.e., similar motor, number of magnets,STARM diameter, etc. In alternate embodiments, additional or less hoverengines can be provided where the size of the hover engines may varyfrom hover engine to hover engine.

The dimensions of the hoverboard 300 are about 37.5 inches long by 4.5inches high by 18.5 inches wide. The weight of the hoverboard unloadedis about 93.5 pounds. The hoverboard can be configured to carry a riderweighing up to 392 pounds. In operation, the distance between thehoverboard 300 and the substrate which supports the induced eddycurrents may vary depending on the weight of the rider.

Each hover engine includes a STARM, such as 325, with a motor (notshown) and engine shroud 318 with a gap between the shroud 318 and STARM325 to allow for rotation. The STARM 325 is connected to the motor viaconnectors 322. The motor provides the input torque which rotates theSTARM. In alternate embodiments, a single motor can be configured todrive more than one STARM, such as 325.

In one embodiment, the STARMs, such as 325 are 8.5 inches in diameter.The STARMs are configured to receive sixteen one inch cube magnets.Thus, the total volume of the magnets on the hoverboard is 64 cubicinches. In one embodiment, Neodymium N50 strength magnets are used. Themagnets each weigh about 3.6 ounces (force). Therefore, the total magnetweight for one hover engine is about 3.6 pounds (force).

As described above, a total magnet weight and volume can vary from STARMto STARM mounted to hoverboard. For example, hover engines, 304 b and304 d, may each have STARMs with twenty one inch cube magnets and hoverengines, 304 a and 304 c, may each have STARMs with twelve one inch cubemagnets. In this embodiment, the STARMs are mounted beneath the motor ascompared to within a center of the STARM as shown in FIG. 8B.

In one embodiment, the motors can be a q150 DC brushless motor fromHacker Motor (Ergolding, Germany). The motor has a nominal voltage of 50Volts and a no load current of 2 Amps. The weight is about 1995 grams.The speed is about 52.7/min. The RPM on eta max is about 2540. Thetorque on eta max is about 973.3 N-cm. The current on eta max is about53.76 Amps. In one embodiment, the motor can be operated between about1000 and 2300 RPMs. In different embodiments, motors can be operated athigher or lower RPMs, such up to 10,000 RPMs

The hover engines each have a shroud, such as 318. The shroud 318partially encloses the STARM, such that a bottom of the STARM isexposed. A tilt mechanism 312 is coupled to the shroud 318 of each hoverengine. The tilt mechanism 312 is coupled to a pivot arm 310. The hoverengines 304 a, 304 b, 304 c and 304 d are suspended beneath a supportstructure 302.

The pivot arms, such as 310, extend through an aperture in the supportstructure. The pivot arms can be configured to move and tilt the shroudin some manner. More complex mechanical linkages are possible and thepivot arm is provided for the purposes of illustration only and is notmeant to be limiting. In general, a mechanical linkage configured totransfer a force can have one or more members and one or more pivotpoints.

The motors in each hover engine can be battery powered. In oneembodiment, sixteen battery packs are used. The batteries are VENOM 50C4S 5000MAH 14.8 Volt lithium polymer battery packs (Atomik RC, Rathdrum,Id.). Each battery weighs about 19.25 ounces. The dimensions of thebatteries are 5.71 inches by 1.77 inches by 1.46 inches. The minimumvoltage is 12 V and the maximum voltage is 16.8 V. Other types ofbatteries can be used and these are provided for the purposes ofillustration and are not meant to be limiting.

The sixteen batteries are wired together in four groups of fourbatteries and each coupled to motor electronic speed controllers, suchas 306 a and 306 b via connectors 316 a and 316 b to four adjacentbattery packs. Connectors 316 c and 316 d each connect to four batteriesand to a motor electronic speed controllers, 306 c and 306 d, which arestacked behind, 306 a and 306 b (see FIG. 11). The wire connections forthe batteries are not shown. The batteries are wired in series in thisexample to provide up to about 60 V to the electronic speed controllers.

In an alternate embodiment, an AC power source may be used. For example,a device, such as the hoverboard can be coupled to AC power source whichpowers AC electric motors. In this embodiment, the batteries can beremoved and replaced with a power converter which is suspended beneaththe structure 302.

The motor electronic speed controllers, 306 a, 306 b, 306 c and 306 dare coupled to each of the four motors via wire bundles 308 a, 308 b,308 c and 308 d. The electronic speed controllers are stacked on top ofone another. Hence, electronic speed controllers 306 c and 306 d are notvisible in FIG. 9 (instead see FIG. 11).

An electronic speed controller can be an electronic circuit which canvary an electric motor's speed, its direction and possibly also to actas a dynamic brake. Electronic speed controllers are often used forbrushless motors to provide an electronically generated three-phaseelectric power low voltage source of energy for the motor. An example ofbrushless electronic speed controllers is a Jeti Spin Pro Opto brushlessesc (Jeti USA, Palm Bay, Fla.).

Electronic speed controllers can be programmed to control a speed of themotor. Further, the speed controllers can be configured to detect andstore a peak controller temperature, maximum current, minimum current,RPM and motor run time. The electronic speed controllers can be coupledto a wireless transmitter for sending telemetry data and receivingcontrol commands from a wireless controller.

In one embodiment, each electronic speed controller can be coupled to anumber of Lithium Polymer batteries, such as four to fourteen cells. InFIG. 9, four battery backs are shown coupled to each controller toprovide up to sixty Volts. Electronic speed controllers are normallyrated according to maximum current, for example, 25 amperes. Generally,the weight of the electronic speed controller increases as the maximumcurrent capacity increases. Many modern electronic speed controllers cansupport nickel metal hydride, lithium ion polymer and lithium ironphosphate batteries with a range of input and cut-off voltages.

For brushless electric motors, the correct phase varies with the motorrotation, which can be taken into account by the electronic speedcontroller. Usually, back EMF from the motor is used to detect thisrotation, but variations exist that use magnetic (Hall Effect) oroptical detectors. Computer-programmable speed controls generally haveuser-specified options which allow setting low voltage cut-off limits,timing, acceleration, braking and direction of rotation. In someinstances, the motor's direction can be reversed by switching any two ofthe three leads from the electronic speed controller to the motor.

In alternate embodiments, other types of electric motors can be used.For example, one or more brushed electric motors can be used. In brushedelectric motors, brushes carry power to windings which rotate. DC motorscan include shunt motors, separately excited motors, series motors,permanent magnet DC motors and compounded motors. AC motors can includeinduction motors and synchronous motors. Other electric motor types caninclude stepper motors, hysteresis motors, reluctance motors anduniversal motors. As described above, non-electric motors, such as acombustion motor can also be utilized.

FIG. 10 is a top view 330 of the hoverboard. The hover engines aresuspended beneath the central support structure 302 as described abovewith respect to FIG. 9. The shrouds, such as 318, of the hover enginesextend slightly beyond an edge of the support structure 302. The shroudscan be made strong enough to support a weight of a person withoutimpinging any underlying parts, such as a rotating STARM.

A rider platform 332 is mounted above the support structure. The top ofthe rider platform 332 may substantially flat, i.e., a minimal amount ofprotuberances. The protuberances may be minimized to allow a rider tomove around the rider platform without tripping. Although, as describedbelow, the rider platform may be configured to bend and flex and hencemay be curved. In one embodiment, the rider platform may include footstraps for securing a rider's feet in place. In various embodiments, therider platform 332 and the support structure can be formed as a singleintegrated unit (e.g., see FIGS. 22A-22D).

Some examples of materials which may be used to form support structure302, shroud 318 and rider platform 332 include but are not limited towood, plywood, plastic, reinforced plastic, polymers, glass fillednylon, fiber glass, reinforced composites, metals (e.g., aluminum),metal alloys, metal composite materials (e.g., an aluminum compositematerial), a hemp composite, composites with a honeycomb core or otherinner structure, composites with a balsa core, expanded metal, etc.

The pivot arms 310, which are attached to each of the hover engineshrouds, such as 318, are coupled to the rider platform 332 atconnection points 334. The rider platform can be formed from a flexiblematerial. When a rider stands on the platform and shifts their weightfrom quadrant to quadrant, the rider platform can flex. The flex cancause the pivot arm coupled to each of connection points 334 to movedownwards which causes the hover engine coupled to each pivot arm totilt. As described above, when the hover engine is tilted, a force canbe generated which is approximately aligned with the tilt axis.

The rider can shift their weight and the amount of weight distributed toeach pivot arm by changing their foot position on the rider platform 332and the amount of weight distributed to each foot. Thus, the amount offorce distributed to each pivot arm can be controlled and hence theamount of tilt to each hover engine can be varied. By varying the tilt,an amount of translational force output by each hover engine in aparticular direction can be controlled. As described above, these forcescan be used to control spin, such as starting or stopping a spin andcontrolling a rate of spin. The forces can also be used to steer thehoverboard.

In particular embodiments, different thickness platforms with greater orless stiffness can be used for different weight riders. For example, astiffer platform may be used for heavier riders and a less stiffplatform can be used for lighter riders. The support structure 302 caninclude a quick release mechanism which allows rider platforms with adifferent amount stiffness to be easily removed and then replaced. Inanother embodiment, adjustable stiffeners, such as springs which can betightened loosened can be provided. The adjustable stiffeners can beused to increase or decrease the relative stiffness of the riderplatform 332.

In one embodiment, the hoverboard can be configured to receive one ormore extension arms. The extension arms can attach to the board on oneend and can include an attachment on the other end, such as a skid pad,a wheel, a castor wheel. The one or more extension arms may be used tolimit the amount of tilt of the hoverboard and provide additionalstability. For example, during training, the extension arms might beused in a similar manner as training wheels are used on a bike,

FIG. 11 is a side view 350 of a hoverboard. As can be seen in the FIG.11 all of the components need to operate the hover engines, such as thebatteries and speed controls are suspended from the bottom of supportstructure 302 and packaged below a height of the bottom of the hoverengine. As described above, the height of the hoverboard from the bottomof the hover engine to the top of the rider platform is about 4.5 inchesThinner designs are possible and this example is provided for thepurposes of illustration only.

In this embodiment, the rider platform 332 is supported at the ends andcoupled to the structure 302 via members 374 a and 374 b. Thisconfiguration allows the rider platform 332 to bend in the middle, suchas when weight is applied at location 354 and 356 above the pivot arms,such as 310. In an alternate embodiment, the rider platform may besupported by a member, which bisects it lengthwise. Then, the riderplatform 332 may be bent on either side of this central member whenweight is applied.

In yet another embodiment, the rider platform 332 may be sectioned toallow portions to move independently of one another. The individualsections can be coupled to the hoverboard such that they may be flexedto actuate one of the tilt mechanisms. In another embodiment, theindividual portions may be coupled to the hoverboard via a hingemechanism. The individual portions can then be rotated about the hinge.

When a hinge mechanism is used, a stiffer material may be utilized forthe individual section. However, a repositioning mechanism, such as oneor more springs or flexible foam, may be used to return the individualportion to an original position after a force is removed. Therepositioning mechanism, such as springs, can also be used to affect theamount of force required to move the individual section.

The hover engine shrouds are coupled to a hinge mechanism 372. The hingemechanism 372 hangs from the support structure 302. The hinge mechanismprovides for rotation about one axis. Some examples of hinge mechanismswhich may be utilized include but are not limited to a butt hinge, abarrel hinge, a flush hinge, a continuous hinge, a pivot hinge, a coiledspring pin hinge and self-closing hinges. A gap is provided beneath thehinge mechanism, the gap allows wires 308 a from the speed controller310 to reach the motor encircled by the shroud 318. In alternateembodiments, the shroud can include one or more apertures which allowwires to be passed to the motor.

In this example, the hinges allow each hover engine to rotate throughsome angle, such as 366 and 369, about one rotational axis. As describedwith respect to FIG. 14, joints which allow for more rotational degreesof freedom are possible and this example is provided for the purposes ofillustration only. The bottom of the shrouds, such as 318, when tiltedis illustrated by the dashed line 362 and 364. The tilt angles 358 and360 are defined as the angle between the shrouds are horizontal and thebottom of the shrouds when tilted as indicated by lines 362 and 364.

In one embodiment, the support structure 302 around the hinge mechanism372 can be partially recessed. The recess may allow a portion of thehinge mechanism 372 to slide up into the recessed portion when a hoverengine is tilted. This feature may allow the overall thickness of thehoverboard to be reduced since the clearance needed to rotate the hoverengine may be reduced. In one embodiment, the support structure can beformed from materials, such as wood, metal, fiberglass (or otherlightweight but strong composite materials), plastic and combinationsthereof.

In one embodiment, the hover engines can be configured to tilt up to tendegrees in one direction. In operation, when the weight is removed fromlocations 354 and 356, the rider platform 332 may unbend and the shroudsmay return to a first position. When weight is added, the rider platformmay flex by some amount at each location and the shrouds may each tiltby some amount.

As described above, the amount of tilt associated with each hover enginemay be constrained. Further, the amount of tilt doesn't have to be samefor each hover engine. For example, one hover engine can be allowed torotate up to ten degrees while a second hover engine can be allowed torotate up to only five degrees. In particular embodiments, a hoverengine can be configured to rotate through up to 10 degrees, up to 20degrees or up to 30 degrees of total rotation. The rotation directions366 and 368 are shown for each hover engine. In one embodiment, eachhover engine is allowed to rotate in only one direction. In anotherembodiment, a hover engine may be allowed to rotate in two directions,such as angles of plus or minus ten degrees past the horizontal. In thisembodiment, a different mechanical linkage would be needed, such as asecond pivot arm coupled to the shroud (see e.g., FIG. 15).

FIGS. 12 and 13 are a perspective view and side view of a hoverboard 500with four hover engines 506 coupled to struts 504. A rider platform 502is coupled to the struts 504 and four pivot arms 508. The rider platform502 is coupled to support member 516 via connector 514. The supportmember 518 is coupled to the struts 504 via connector 518.

In one embodiment, the rider platform 502 can be flexible, such thatwhen a force is applied near its edge support member 508 is pushed downand the hover engine is also pushed down. A different mechanical linagecan be provided such that a downward motion causes the hover engine tobe tilted in the opposite direction.

FIGS. 14, 15 and 16 show some embodiments involving manual STARMcontrol. In particular, FIGS. 14, 15 and 16 are illustrations of a hoverengine coupled, respectively, to a lever arm, foot pedals and reins.These controls might be used in combination with the previouslydescribed hoverboards.

In FIG. 14, a lever arm 602 is coupled to a motor/STARM via a ball joint606. When hovering, a movement of the lever arm 602 from side to sidecan cause the STARM 610, which includes an arrangement of magnets 612,to tilt relative to a conductive surface such that a vehicle includingthe hover engine moves forward and backward. The amount of side to sidetilt can affect the speed at which a vehicle moves in these directions.A movement from front to back can cause the STARM 610 to tilt such thatthe vehicle moves either left or right. A combination of a left or rightmovement and a front or back movement of the lever 602 can tilt theSTARM such that the vehicle moves in various directions along differentlines. A change in the lever direction as a function of time can changethe direction vector of the force which is generated as a function oftime and hence the vehicle can move along an approximately curved path.

In various embodiments, a mechanical linkage can be used which causesone or more hover engines to be tilted in response to a movement of thelever arm 602. For example, two hover engines can be coupled to a commonrotational member such that both hover engines are rotated in responseto a torque applied to the rotational member (see e.g., FIG. 20). Inaddition, as described above, digital controls can be used where amovement of the lever arm 602 is detected by one or more sensors. Thesensor data can be received in an on-board processor. Based suchfactors, as an amount movement, a direction of movement and a rate ofmovement of the lever arm 602 and other factors, such as a currentorientation and direction of motion of the vehicle, the on-boardprocessor can generate one or more commands. The commands can be sent toone or more actuators via wired or wireless communications. Theactuators can include logic devices (e.g., controllers) which enablecommunications with the on-board processor and interpreting of commandsfrom on-board processor.

The one or more actuators can be coupled to a single hover engine or aplurality of different hover engines. In response to receiving thecommands, the actuator controller can cause the actuator of output aforce or a torque. The force or torque can cause the hover engine tochange its position in some manner, such as but not limited to a tiltposition.

In some embodiments, the on-board processor can send commands, whichcause a rotation rate of a STARM associated with a hover engine to go toa particular RPM value. The motor commands, which can be received bymotor 608, can be generated in conjunction with the actuator commands.The RPM value can affect the amount of force which is generated from thehover engine after its position has been changed. The motor 608 caninclude one or more controllers for 1) communicating with the on-boardprocessor (wired or wirelessly), 2) processing the commands receivedfrom the on-board processor and 3) generating commands to controlmechanisms associated with the motor which are used to implement thecommand, such as an amount of power delivered to the motor.

FIG. 15 shows foot pedals, 652, which can be used to tilt hover engineincluding a motor 662 and a STARM 664. When one foot pedal, 652, ispressed downwards, the STARM 664 can generate a force, perpendicular tothe page, which can cause the vehicle to move forward. When the otherfoot pedal is pressed downwards, the STARM 664 can generate a force,which can cause the vehicle to move backwards. The amount each pedal isdepressed can be used to control a speed of the vehicle in a particulardirection. When a first pedal is pressed to move the vehicle in onedirection, removing pressure from the first pedal and applying pressureto the second pedal can act as a brake to slow the vehicle.

A mechanism is provided with each foot pedal which generates a restoringforce. It can also be used to affect how much force needs to be appliedto a pedal to move the pedal. Further, the mechanism can limit how farthe pedal can move. In FIG. 15, the mechanism is represented as aspring. The mechanism can generate a force which is approximately linearand/or non-linear with the amount of displacement of the foot pedal. Inparticular embodiments, one or more mechanisms which generate arestoring force can also be used with the lever arm shown in FIG. 14.Again, as described above, one or more foot pedals can be used as partof a digital control system.

FIG. 16 is an illustration of a hover engine coupled to reins 672 and674. The reins, 672 and 674, are attached to a housing via connectionpoints 680 and 682. A force, such as 676 and 678, can be applied one ata time or simultaneously to change a tilt angle of the STARM 664. Whenone or both reins are not in tension, then no force is applied to thehover engine including motor 662 and STARM 664.

In one embodiment, a restoring force mechanism can be provided, such assprings 654, which are configured to return the STARM to a neutralposition (the neutral position can involve the STARM 664 beinghorizontal or in a tilted position). To maintain a particular tiltangle, a constant force is applied to one or both reins. When the forceis removed, the STARM 664 returns to its neutral position.

In another embodiment, the mechanism can be resistant to movement suchthat the STARM 664 remains in place at a particular orientation after itis moved. For example, the ball joint 656 or other hinge mechanism canbe formed with sufficient internal friction to hold the STARM 664 inposition. In this embodiment, a first combination of forces can beapplied to the reins, 672 and 674, to move the STARM 664 to a firstorientation where it remains in place in the absence of an externallyapplied force. To move the STARM 664 to a second orientation, a secondcombination of forces can be applied via the reins 672 and 674.

FIGS. 17A to 17E are illustrations of shroud configurations for a hoverengine 706. The hover engines each include a motor 702 and a STARM 704which rotates in direction 712. The motor 702 and STARM 704 areconfigured to rotate 708 about rotation axis 710.

In FIGS. 9, 10 and 11, the shroud extended around the sides of the STARMsuch that the bottom of the shroud was parallel to or extended slightlypast the bottom of the STARM. In this embodiment, the bottom of theSTARM is exposed. In FIG. 17A, a shroud 714 extends beneath the STARM704 and partially covers a bottom of the STARM. The lip portion whichextends beneath the STARM can prevent debris from entering the side ofthe STARM. In addition, the bottom portion can provide a minimumstand-off from a substrate which supports the induced eddy current.During start-up, the minimum stand-off can reduce a maximum amount ofdrag torque which is generated because the drag torque decreasesexponentially with a distance from the substrate (e.g., see FIG. 4B).

In FIG. 17B, a bottom portion 718 of the shroud 714 completely enclosesa bottom of the STARM 704. In one embodiment, the shroud 714 can includeapertures which allow air to enter and exit the shroud 714. The air flowmay be used to provide a heat exchange mechanism for the STARM. TheSTARM may include fins to increase air flow within an enclosure.Further, aperture locations may be selected to increase air flow throughthe enclosure. The apertures may be covered with a mesh to preventdebris from entering the enclosure.

In another embodiment, the motor 702 and STARM 704 may be completelyenclosed. The enclosure can be evacuated such that it operates at apressure lower than the surrounding environment. Thus, the enclosure mayinclude a pressure sensor and a valve for removing air. Alternatively,the enclosure may be filled with a gas different from the surroundingenvironment. For example, the enclosure may be filled with nitrogen oran inert gas, such as argon or xenon. In this embodiment, the pressuremay to which the enclosure is filled may be lower, approximately equalto or above an ambient pressure surrounding the enclosure.

In yet another embodiment, an entire vehicle can be enclosed in a shell.For example, a flying saucer shaped vehicle can be built. The motor,batteries, STARMs, control circuitry and other vehicle components can bedisposed within the shell. In this configuration, an enclosure and/orshroud may not be needed around the motor and STARM because the motorand STARM are disposed within the shell. Like enclosure in the previousparagraph, the shell can be configured to operate at a pressure which isdifferent than the surround environment and/or can be filled with anatmosphere which is different than the surround environment.

In FIGS. 17A and 17B, the motor 702, the STARM 704 and shroud may betiltable as a unit. In FIG. 11, the motor, STARM and shroud are alsotiltable as a unit. In other embodiments, as described as follows withrespect to FIGS. 17C and 17D, the motor 702 and STARM 704 are tiltableas a unit while the shroud 714 remains in a fixed position.

In FIG. 17C, the motor 702 and STARM 704 are configured to tilt aboutaxis 710 while shroud 714 remains fixed. The bottom of the shroud 714 isopen and doesn't include a lip portion as shown in FIG. 17A to allow theSTARM to tilt past the horizontal. The inner sides of the shroud 714 arecurved accommodate the rotation of the STARM.

In FIG. 17D, a bottom portion 720 of the shroud 714 is provided whichdoesn't rotate with the STARM in direction 712. To allow 720 not torotate with STARM 704, it can be mounted to a static portion 718 whichextends through STARM 704. However, the bottom portion 720 is configuredto tilt as the motor 702 and 704 tilt.

In one embodiment, a flexible membrane 716 can be provided which couplesthe bottom portion 720 to the side of the shroud 714. The bottom portioncan be formed from a rigid material. The membrane 716 can stretch as themotor 702, STARM 704 and bottom portion 720 of the shroud tilt. Thetension in the membrane 716 can be used to restore the STARM and motorto a neutral position after it has been tilted.

In FIG. 17E, a two part shroud is used. A first portion of the shroud714 extends down the sides of the motor 702 and STARM 704. The firstportion 714 is open and doesn't tilt with the motor 702 and STARM 704 orrotate with STARM 704. A second portion 724 of the shroud is mounted tobottom of STARM. The second portion 724 is configured to tilt with themotor 702 and STARM 704 and rotate with the STARM 704.

The second portion 724 of the shroud extends around the side of theSTARM 704. In one embodiment, the portion which extends around the sideof the STARM is selected so that it extends above a bottom of the firstportion of the shroud 714 when the STARM is tilted at the maximum angle.Spacers 722 are provided which provide a stand-off distance between theSTARM 704 and the second portion of the shroud. In alternateembodiments, the second portion of the shroud 724 can be mounteddirectly to the STARM 704 without any standoff distance.

In FIGS. 17C, 17D and 17E, an actuator can be used to tilt the motor 702and STARM 704. In one embodiment, the actuator may be located outsidethe shroud. The shroud can include one or more apertures which allow amechanical linkage to extend from actuator and into the shroud. Themechanical linkage can be used to transfer a torque from the actuator torotate the motor and the STARM.

For example, a rigid L-shaped lever arm can expend from the shroud wherethe arm is pushed up or down to rotate the motor and the STARM. Thelever arm can be pushed by an actuator or via a force from a person'sbody, such as their foot. In another embodiment, a straight rotationalmember can extend from the actuator which is coupled to the motor andthe STARM. The motor and the STARM can receive a torque from therotational member.

In yet another embodiment, one or more actuators can be located insidethe shroud. An actuator can be coupled to a static portion of the motorand a static portion of the shroud. The actuator can be then configuredto generate a force which tilts the STARM and the motor.

Next, shroud configurations are described where the shroud is tiltableand also forms a portion of the rider platform. FIGS. 18A to 18D areillustrations of examples of shroud configurations for a hover enginewhere a top of the shroud forms a portion of the rider platform. A ridermay be able to directly step on a portion of the shroud to tilt theshroud, motor and STARM as a unit which causes a translational force tobe generated.

In FIG. 18A, a rider plate platform including three portions 800, 802and 804 is provided. The second portion 804 is part of a shroud which iscoupled to a motor and STARM (not shown). A structural member 810extends from the first portion 800 and through the shroud 804. The thirdportion 802 of the rider platform 802 is coupled to the structuralmember 810. In this embodiment, the first portion 800 and the thirdportion 802 are configured to move as unit. In alternate embodiments,structure can extend around one or both of sides of second portion 804such that first portion 800 and the second portion 802 are joined withone another to extend around all or a portion of the circumference ofsecond portion 804.

The second portion 804 can be configured to rotate 806 around axis 808which is through the center of member 810. For example, portion 804 canbe formed with a hollow tube through which member 810 extends. In thisexample, member 810 may be cylindrically shaped. Other types of hingemechanisms can be provided which allow rotation between the member 810and the second portion 804. Thus, the tube structure is provided for thepurposes of illustration only and is not meant to be limiting. Inparticular, member 810 doesn't necessarily have to be cylindricallyshaped.

In one embodiment, in a first position, the top surface of 804 issubstantially parallel to the adjacent top surfaces of 800 and 804across gap 816 such that a continuous surface is formed. In anotherembodiment, in the first position, the top surface of 804 can beslightly above the adjacent top surfaces of 800 and 802. Thediscontinuity between the surfaces may allow a rider to detect aposition of their foot relative to the top surface 804 and portions 802and 804.

A force can be applied on the top surface of 804 to cause it to tiltabout axis 808. The direction of tilt depends on which side of tilt axis808 a net force is provided as forces from a source, such as a rider'sfoot, can be distributed across the top surface. Upon tilting, a portionof the top surface of 804 rises above an adjacent top surface of 800 and802 and a portion of the top surface of 804 sinks below an adjacent topsurface of 800 and 802. This tilt can cause a translational force to begenerated where the magnitude of the force depends on the magnitude ofthe tilt angle, the direction of the tilt, as well as the overallorientation of the hoverboard relative to the substrate which supportsthe eddy currents. The direction of the tilt can affect the direction inwhich a translation force is generated.

A structure can be provided which provides a maximum limit to the tiltangle in either direction. As described above, the maximum tilt angledoes not have to be the same in each direction. Further, the tiltpotential can be limited such that 804 can tilt in only one direction.

The tilt mechanism, such as a hinge, can be configured to resist totilting such that it can maintain a tilt angle. For example, the tiltmechanism can be designed with a certain amount of friction betweenparts which may need to be overcome to tilt portion 804 about axis 806.Thus, an external force, such as from a rider, is applied each time thetilt mechanism is moved from one position to another position.

In another embodiment, the tilt mechanism can include restoring forcemechanisms which provide a restoring force, such as springs, membranesor actuators. After portion 804 is tilted in a first direction to afirst position, a restoring force mechanism can be configured togenerate a moment which acts to tilt the portion 804 opposite the firstdirection. The restoring force mechanisms can be configured to generatea restoring force which helps to move surface 804 in a particulardirection along or conjunction with an externally provided force.

As an example, a user can press on portion 804 with their foot to tiltportion 804 from a first position to a second position. When the userremoves their foot, the restoring force mechanism can be configured totilt portion 804 from the second position to the first position. Asanother example, a user can press on portion 804 with their foot to tiltportion 804 from the first position to the second position. When theuser removes their foot, the portion 804 may maintain the firstposition. However, if the user applies a small amount of force inconjunction with the force output from the restoring force mechanism,the portion 804 is tilted in the opposite direction.

In one embodiment, a restoring force mechanism can be an actuator whichis powered from a source other than a user. In another embodiment, therestoring force mechanism can be a device, such as but not limited tosprings or flexible membranes, which stores energy applied from theuser. The stored energy can be released to supply the restoring force.

In another embodiment, a flap can be utilized. The flap can be formed aflexible but rigid material to allow it to be anchored on one side andthen bent. The flap can be designed to return to its unbent shape whichgenerates a restoring force.

As an example, flexible membranes 812 and 814 can be attached tosurfaces 800 and 802. The membranes are shown over the top of portion804. In other embodiments, membranes can be located on the sides ofportion 804 or run beneath portion 804. The attachment points for themembranes can also be on the sides of portion 800 and 802 or on a bottomsurface of 800 and 802.

In one embodiment, membranes 812 and 814 may be only attached to 800 and802 such that when portion 804 is tilted in a particular direction onlyone of membranes 812 and 814 is stretched. The membrane which is notstretched doesn't generate a restoring force. In another embodiment, oneor both of membranes 812 and 814 are attached, such as glued orfastened, to portion 804. For the membranes attached to portion 804, themembranes are stretched when the top portion is rotated past thehorizontal in either direction.

In various embodiments, to accommodate rider preferences, the width orthickness of membranes 812 and 814 can be adjusted to increase theamount of force required to stretch. Further, membranes don't have to beof equal thickness or width (e.g., see FIG. 21). Thus, more energy maybe required to tilt 804 in one direction versus the opposite direction.

In another embodiment, a single membrane can be used. When an equalamount of membrane is placed on either side of axis 808, the amount ofenergy required to tilt 804 from the horizontal in either direction canbe equal. When more membrane is placed on one side of axis 808 than theother, more energy can be required to tilt 804 in one direction versusthe opposite direction. The membranes don't have to stretch across theentire top of 804 from 800 to 802. For example, membranes can beattached which span gap 816 and are anchored to portions 800 and 804and/or are anchored to portions 802 and 804.

The top surfaces of 800, 802 and/or 804 can be recessed where a membraneis attached and/or spans the portion. The recess can allow the membraneto be attached in a manner where it is flush with the adjacent portions.Thus, the depth of the recess can depend on the thickness of themembrane and bonding agent which is used.

In FIG. 18B, a rider platform is formed from the top surfaces ofstructure 820, member 824 and hover engine 822. The member 824 isanchored and can be integrated with board 820. Hover engine 822 iscoupled to member 824 with a gap 812 between board 820 and hover engine822. The gap 812 enables the board 820 and the hover engine rotaterelative to one another.

In one embodiment, member 824 can be formed from two pieces which canrotate relative to one another, such as two tubular pieces. A housing orshroud associated with hover engine 822 can be coupled to one of thepieces. One or more springs, such as a spring disposed in the interiorof member 824, can be used as a restoring force mechanism.

In FIGS. 18A and 18B, a single hover engine is shown. In otherembodiments, the top surfaces from a plurality of hover engines can forma portion of a rider platform (see, e.g. FIG. 20). For example, in FIG.18B, hover engine 822 may be reduced in diameter relative to the size ofthe board 820 and moved closer to side 826 of board 820 to allow twohover engines to be placed side by side. In this example, the tilt axesof each hover engine associated with the tilt mechanisms can be parallelto one another. In another embodiment, each of the two hover engines canbe coupled to board 820 such that the tilt axes are non-parallel to oneanother. In this example, the two hover engines can be configured tohave the same or a different range of tilt angle.

In FIGS. 18C and 18D, boards 830 and 850 surround hover engines 832 and852, respectively. In FIG. 18C, a rider platform is formed from a topsurface of the hover engine 832 and a top surface of board 830. In FIG.18D, a rider platform is formed from a top surface of the hover engine852 and the top surface of board 850.

In FIG. 18C, two tilt mechanisms, such as 838, are coupled to a shroudassociated with hover engine. The tilt mechanisms allow the shroud torotate 836 about axis 834. The gap 840 between the board 830 and thehover engine 832 allows the hover engine 832 to tilt relative to theboard 830.

The board 830 is provided with slots, such 842. The rotation mechanismis coupled to the slot to allow the hover engine 832 to be moved inaccordance with the path of the slot 842, which is curved in thisexample. A shift in position of the hover engine 832 along the slots,such as 842, changes the orientation of axis 834 relative to the board830. A change in orientation of axis 834 relative to the board changes adirection of a translation force which is output from the hover engine832 when its STARM is angled relative to a surface which supports theeddy currents. The direction of the translational force output from theSTARM can affect a magnitude of a rotational moment which generatedabout a center of mass of the STARM.

In one embodiment, a fastener can be provided which fixes the positionof the tilt mechanisms, such as 838, in the slots, such as 842. Theposition can be selected to suit a rider preference. During operation,the fastener is configured to hold the STARM in the selected position. I

In another embodiment, the tilt mechanism 838 can be coupled to theboard 830 in a manner such that its position along the slot 842 can beadjusted during operation of the hoverboard. This feature allows thehover engine to be tilted and a direction of the associated tilt axis tobe adjusted in flight. In various embodiments, the force to change aposition of the tilt mechanism in the slots, such as 842, can beprovided from an actuator coupled to the hoverboard or from a forceprovided by the rider, such as from a rider's foot.

In FIG. 18D, two hover engines, 852 and 864, are coupled to board 850.The, first hover engine 852 is coupled to board 850 via tilt mechanisms862. A thin piece 860 of board 850 extends around the hover engine 852.A gap 858 between the board 850 and the hover engine allows the hoverengine 852 to rotate 856 about axis 854.

In one embodiment, the tilt mechanisms 862 can be coupled to a track,such as a slot in board 850 (not visible) formed below the top surface.The length of track can extend around all or a portion of thecircumference of the hover engine. The tilt mechanisms can be rotatedalong the track to change an orientation of the tilt axis 854 relativeto the board 850. In one embodiment, a top of the track can besubstantially parallel to a top surface of board 850. In anotherembodiment, the track can be angled relative to a top surface of board850 such that when the top surface of board 850 is parallel to theground a STARM associated with the hover engine 852 is angled relativeto the ground.

The second hover engine 864 is coupled to board 850 via tilt mechanism866. A gap between the board 850 and the second hover engine 864 allowsthe hover engine to rotate around axis 868. In this example, theorientation of the tilt axis 868 is fixed relative to board 850.

In FIGS. 18A to 18D, when a top surface of the hover engine is parallelto the top surfaces of the adjacent structures which form the riderplatform, a bottom of the STARM associated with the hover engine may bealso parallel to the top surface of the hover engine. In this position,if the STARM is also parallel to the surface which supports the inducededdy currents, the translational forces output from the hover engineapproach zero. In another embodiment, when a top surface of the hoverengine is parallel to the top surfaces of the adjacent structures whichform the rider platform, a bottom of the STARM associated with the hoverengine may be angled to the top surface of the hover engine. In thisposition, if the top surface of the hover engine and rider platform isparallel to the surface which supports the induced eddy currents and theSTARM is angled to the surface which supports the induced eddy currents,some amount of translation force can be output from the hover engine.

FIGS. 19A to 19C are illustrations of side and top views of tiltablehover engines. In FIG. 19A, a hover engine 870 is shown. The hoverengine includes a shroud 872 and STARM 874 underneath the shroud. A tiltmechanism 876 extends through the shroud 872, such that a middle portionof the tilt mechanism is enclosed by the shroud. A motor may or may notbe enclosed in the shroud. For example, the shroud can include anaperture which allows a belt or some other mechanism which provides atorque to turn the STARM to extend through the shroud.

In FIG. 19B, a hover engine 880 is shown. The engine 880 includes ashroud 882 and STARM 874. In this example, tilt mechanisms 884 arecoupled to the side of shroud 882 and extend from the shroud 884. Invarious embodiments, the shroud, such as 882, can be formed with a slotfor receiving a tilt mechanism, such as 884.

In FIG. 19C, a hover engine 890 is shown. The hover engine 890 includesa shroud 892 enclosing a STARM 874. In this embodiment, the shroudincludes a recess configured to receive a tilt mechanism 894. The shroud892 is coupled in some manner to the tilt mechanism 894.

FIG. 20 is an illustration of a hoverboard with four hover engines 902,904, 906 and 908. A payload platform (or rider platform) is formed fromthe top surfaces of hover engines 902, 904, 906 and 908 and board 900.Gaps are provided between the board 900 and the hover engines to allowthe hover engines to rotate relative to the board 900. The hover enginesare shown to be about the same size. In one embodiment, the four hoverengines can be identical to one another except for the manner in whichthey are coupled to the hoverboard.

In this example, the two hover engines are coupled to a single tiltmechanism 910. The single tilt mechanism is coupled to board 900 and isconfigured such that hover engines 902 and 904 tilt in unison. The hoverengines are shown to both rotate around a single tilt axis. In alternateembodiments, the ends of rotational member 910 can be angled to oneanother such that hover engines, 902 and 904, rotate about differenttilt axes.

The hover engines 906 and 908 are coupled to a tilt mechanism 912 and914 respectively. These hover engines may be tilted independently of oneanother and hover engines 902 and 904 respectively. The hover engines902, 904, 906 and 908 can be configured to be tilted in response to anexternal force provided by a person and/or an actuator. For example, thehover engines can all be tilted in response to a force supplied by therider. As another example, hover engines 902 and 904 can be tilted inresponse to a force supplied by a rider whereas hover engines 906 and908 can be tilted in response to a force provide by an actuator. In yetanother example, all the hover engines can be tilted in response to anactuator supplied force.

FIG. 21 is an illustration of a hoverboard with two tiltable hoverengines 922 and 924. In this example hover engine 922 is coupled toboard 920 via rotational mechanisms 925 such that it can rotate throughthe board and a top surface of the hover engine forms a top surface ofboard 920. Hover engine 924 is coupled to rotation mechanism 926 on abottom surface of board 920. Thus, it doesn't rotate through board orform a portion of the rider platform.

In this example, two flexible membranes 928 and 930 are provided togenerate a restoring the force. The membranes are of different widths,equal thicknesses and formed from the same material. Thus, more energyis required to tilt hover engine in one direction versus anotherdirection. In other embodiments, the membranes can be formed fromdifferent materials and/or have different thicknesses.

The hover engines 922 and 924 are of different sizes. In one embodiment,hover engine 922 can be configured to generate more lift than hoverengine 924, such as via a greater volume of magnets located on itsSTARM. In one embodiment, the hoverboard may be designed to hover usingonly the lift generated from hover engine 922. Hover engine 924 mayconfigured to provide primarily control forces such as to steer thehoverboard left or right and keep the front portion of the hoverboardfrom hitting the ground.

FIGS. 22A to 22D and 23 are illustrations of a hoverboard 1000 with twohover engines. The rider platform 1002 is formed from wood. The riderplatform 1002 includes end pieces, 1004 and 1006, which are angledupwards. Between the end pieces, the rider platform is substantiallyflat. When a user applies pressure to the end pieces a moment can begenerated which causes one end of the board to rise relative to theother end of the board. Since the forces output by each hover engine area function of their distance from the surface, raising one end canchange the magnitude of forces associated with each hover engine and adistribution of forces across the hoverboard.

The two hover engines are each enclosed in a shroud 1008 and 1010. Theshrouds 1008 and 1010 extend beyond the width of the rider platform1002. The shrouds can be configured to support a rider's weight withoutimpinging on a STARM rotating within the shroud. In one embodiment, themaximum diameter of the shrouds is about twelve inches.

The hover engines are coupled to the rider platform via interface withfasteners, such as 1014. A light, such as 1016, is provided at thebottom of each hover engine. An enclosure 1012 is suspended beneath therider platform and between the hover engines. The enclosure can includesuch components as but not limited to a power source (e.g., batterybacks), engine speed controllers, sensors, wireless communicationdevices, an on-board processor, wiring bundles, etc.

FIG. 23 is a cross section of the hoverboard 1000. The length from endpiece to end piece is about thirty one inches. The thickness 1026 of therider platform is about one half inch. The maximum width 1030 of half ofthe rider platform 1002 is about seven and one half inches. The height1028 of the hover board 1000 from the bottom of enclosure 1024 to thetop of the rider platform is about 3 inches.

Each hover engine includes a motor 1022 and STARM 1020. In this example,the hover engines are identical. In one embodiment, the engine speedcontroller (not shown) can be integrated into the hover engine. Theshroud 1008 can include apertures to allow wire bundles to pass fromenclosure 1024 into the interior of shroud 1008. In one embodiment, thebottom of the rider platform 1002 can include grooves for routing wirebundles from enclosure 1024 into the shroud 1008.

The maximum diameter 1032 of the shroud is about 12 inches. The diameterof the STARM is about eleven inches. The STARM is configured toaccommodate magnets with a height from 1 to 1.5 inches. In oneembodiment, the magnets can be cubic shaped.

FIG. 24 is an illustration of a hoverboard 1100 with eight hoverengines, 1104 a, 1104 b, 1104 c, 1104 d, 1106 a, 1106 b, 1106 c and 1106d. The eight hover engines are each coupled to a structure 1102. Apotential direction of movement of the hoverboard 1100 is shown viaarrow 1108. Various force distributions on structure 1102 which can leadto a particular direction of movement, such as 1108, are described inmore detail with respect to FIGS. 25A to 25E. In particular embodiments,structure 1102 can be formed with flexible portions to allow bendingand/or twisting. The bending and/or twisting can be used as part of acontrol strategy associated with the hoverboard 1100.

A direction of rotation, an axis of rotation and a direction of atranslational force which is output from the hover engine when structure1102 is proximately parallel to a substrate which supports eddy currentsinduced from the hover engines is shown for each hover engine. Forexample, hover engine 1104 c is configured to rotate in direction 1110about axis 1116 and generate a translation force in direction 1122. Asanother example, hover engine 1106 d is configured to rotate indirection 1118 about axis 1124 and generate a translation force indirection 1120.

The hover engines 1104 a, 1104 b, 1104 c and 1104 d can be coupled toplatform 1102 at an angled orientation which is fixed. A single angle ofrotation is shown for each of the hover engines. For example, axis 1112can be the axis of rotation of the motor and STARM for hover engine 1104c and axis 1116 can be perpendicular to a top surface of 1102. Angle1114 can be ninety degrees plus the angle between axis 1112 and axis1116. In general, the orientation of axis 1112 relative to an axisperpendicular to surface 1102 can be represented as rotation amountsabout two axes, such as 1115 and 1117.

In this example, the axes of rotation of hover engines 1106 a, 1106 b,1106 c, 1106 d are shown as parallel to surface 1102. In alternateembodiments, the axes of rotation of these hover engines can also beangled relative to a top of surface 1102. The orientation of these axesof rotation relative to surface 1102 can be also represented as rotationamounts about one or two axes.

In particular embodiments, in hover engines, 1104 a, 1104 b, 1104 c and1104 d, the North-South poles associated with the STARMs can besubstantially parallel to the axis of rotation, such as 1112. Someexamples of magnet arrangements were described above with respect toFIGS. 2 and 3. In hover engines 1106 a, 1106 b, 1106 c and 1106 d, theNorth-South poles associated with the STARMs can be approximatelyperpendicular to the axes of rotation. In this configuration, hoverengines 1106 a, 1106 b, 1106 c and 1106 d may generate some lift.However, in some embodiments, the hover engines 1104 a, 1104 b, 1104 cand 1104 d may generate a majority of the lift and hover engines 1106 a,1106 b, 1106 c and 1106 d may be used primarily to output translationalforces.

In various embodiments, in hover engines 1106 a, 1106 b, 1106 c and 1106d, the magnets on the STARMs can be arranged such that all the poles arein the same direction, such as all north poles facing outwards. Inanother example, the poles can alternate, such as alternating north andsouth poles. In yet another example, magnet polarity arrangements suchas those described with respect to FIGS. 2 and 3 can be used except withthe poles rotated some amount, such as ninety degrees.

In FIG. 24, the four pairs of hover engines: i) 1106 a and 1106 b, ii)1106 c and 1106 d, iii) 1104 a and 1104 b and iv) 1104 c and 1104 c areeach configured to output a translation force which oppose one another.The hoverboard 11100 can be configured such that at some orientation allthe forces and moments generated from the eight hover engines balanceone another to allow the hoverboard to hover in place without rotating.For example, this condition may occur when surface 1102 is parallel tothe surface which supports the induced eddy currents. When the board1100 is in other orientations, a particular direction of movement can begenerated. Some examples of these orientations are described in moredetail with respect to FIGS. 25A to 25E.

FIGS. 25A to 25E are illustrations of movement directions in response toa force inputs at different locations on hoverboard 1100. In FIGS. 25Ato 25E, the eight hover engines and the direction of their output forcepreviously described with respect to FIG. 24 are shown. In addition, alocation where a force can be applied and a resulting direction ofmovement of the hoverboard are discussed.

In one embodiment, the two hover engines, such as 1106 a, 1106 d and1106 b and 1106 c can be replaced and a single cylinder with a singlemotor, like a rolling pin, can be used. Magnets can be arranged on theface of the cylinder in rows and columns which span all or a portion ofthe length of the cylinder and all or a portion the circumference aroundthe cylinder. When arranged in this manner, the diameter of the cylindermay be smaller than the diameter of the hover engines, 1104 a, 1104 b,1104 c and 1104 d. The rotating portion of the cylinder can be coveredin a shroud to prevent the rider from stepping on it. The shroud mayform a side rail on the board.

In FIG. 25A, a force can be applied within area 1122, which is indicatedby the rectangle. For example, the force may be applied by a riderplacing their foot in the area 1122 and then pushing down and shiftingtheir weight towards it. This motion can cause a fore of the hoverboardto rise relative to a substrate which supports the eddy current inducedby the hover engines. When the fore end of the hoverboard 1100 rises,due to the increased distance of the fore hover engines from thesubstrate, the translational forces output from the fore hover enginesdecrease and the translation forces from the aft hover engines increase.Thus, a net translation force 1120 can be generated which moves thehoverboard in the aft direction.

In FIG. 25B, a force can be applied within area 1124, which is indicatedby the rectangle. For example, the force may be applied by a riderplacing their foot in the area 1124 and then pushing down and shiftingtheir weight. This motion can cause an aft end of the hoverboard to riserelative to a substrate which supports the eddy current induced by thehover engines. When the fore end of the hoverboard 1100 sinks and theaft end rises, due to the increased distance of the aft hover enginesfrom the substrate, the translational forces output from the aft hoverengines decrease and the translation forces from the fore hover enginesincrease. Thus, a net translation force 1126 can be generated whichmoves the hoverboard in the fore direction.

In FIG. 25C, a force can be applied within area 1128, which is near thecenter of mass of the hoverboard. For example, the force may be appliedby a rider placing their foot in the area 1128 and then pushing down andshifting their weight. This motion can cause the port side of thehoverboard to rise relative to a substrate which supports the eddycurrent induced by the hover engines. When the starboard side of thehoverboard 1100 sinks and the port side rises, due to the increaseddistance of the port hover engines from the substrate, the translationalforces output from the port hover engines decrease and the translationforces output from the starboard hover engines increase. Thus, a nettranslation force 1130 can be generated which moves the hoverboard inthe starboard direction.

In FIG. 25D, a force can be applied within area 1132, which is near thecenter of mass of the hoverboard. For example, the force may be appliedby a rider placing their foot in the area 1132 and then pushing down andshifting their weight. This motion can cause the starboard side of thehoverboard to rise relative to a substrate which supports the eddycurrent induced by the hover engines. When the port side of thehoverboard 1100 sinks and the starboard side rises, due to the decreaseddistance of the port hover engines from the substrate, the translationalforces output from the port hover engines increase and the translationforces output from the starboard hover engines decrease. Thus, a nettranslation force 1134 can be generated which moves the hoverboard inthe port direction.

In FIG. 25E, a force is applied in area 1138, which may be some distancefrom the center of mass of the hoverboard and rider. The port andforward end of the hoverboard can rise. This orientation can cause atleast a net force 1140 to be generated. The net force can produce amoment about the center of mass of the hoverboard and rider which causesthe hoverboard to rotate. The area where the force is applied can bemoved to the port side to generate a moment in the opposite directionand cause the board to rotate in the opposite direction.

In the examples above, the hoverboard was described as moving forward,backwards, side-to-side or rotating. These motions can be combined togenerate more complex movements. For example, the hoverboard can beactuated to both turn and rotate at the same time, like a ski or asnowboard carving a turn. Thus, the examples provided above are for thepurposes of illustration and are not meant to be limiting.

In another embodiment, the force directions which are output from eachof the STARMs can be reversed. In this embodiment, the board can respondoppositely to the manner described above with respect to FIGS. 25A to25E. For example, if the rider presses on fore end, the board will movein the aft direction. As another example, if the rider presses on theaft end the board will move in the forward direction. Combinationsbetween these two examples are also possible. For example, the board canbe configured to move in the port direction and the starboard directionwhen the board is pressed on the port side and the starboard side butmove in aft direction when the board is pressed on the fore side and thefore direction when the board is pressed on the aft side.

Embodiments of the present invention further relate to computer readablemedia that include executable program instructions for controlling amagnetic lift system. The media and program instructions may be thosespecially designed and constructed for the purposes of the presentinvention, or any kind well known and available to those having skill inthe computer software arts. When executed by a processor, these programinstructions are suitable to implement any of the methods andtechniques, and components thereof, described above. Examples ofcomputer-readable media include, but are not limited to, magnetic mediasuch as hard disks, semiconductor memory, optical media such as CD-ROMdisks; magneto-optical media such as optical disks; and hardware devicesthat are specially configured to store program instructions, such asread-only memory devices (ROM), flash memory devices, EEPROMs, EPROMs,etc. and random access memory (RAM). Examples of program instructionsinclude both machine code, such as produced by a compiler, and filescontaining higher-level code that may be executed by the computer usingan interpreter.

The foregoing description, for purposes of explanation, used specificnomenclature to provide a thorough understanding of the invention.However, it will be apparent to one skilled in the art that the specificdetails are not required in order to practice the invention. Thus, theforegoing descriptions of specific embodiments of the present inventionare presented for purposes of illustration and description. They are notintended to be exhaustive or to limit the invention to the precise formsdisclosed. It will be apparent to one of ordinary skill in the art thatmany modifications and variations are possible in view of the aboveteachings.

While the embodiments have been described in terms of several particularembodiments, there are alterations, permutations, and equivalents, whichfall within the scope of these general concepts. It should also be notedthat there are many alternative ways of implementing the methods andapparatuses of the present embodiments. It is therefore intended thatthe following appended claims be interpreted as including all suchalterations, permutations, and equivalents as fall within the truespirit and scope of the described embodiments.

What is claimed is:
 1. A hoverboard comprising: two or more hoverengines, each hover engine having, an electric motor including awinding, a first set of permanent magnets and a first structure whichholds the first permanent magnets wherein an electric current is appliedto the winding to cause one of the winding or the first set of permanentmagnets to rotate; an electronic speed controller which controls arotation rate of the electric motor; a starm, configured to receive arotational torque from the electric motor which rotates the starm,including a second set of permanent magnets and a second structure whichholds the second set of permanent magnets wherein the second set ofpermanent magnets are rotated to induce eddy currents in a substratesuch that the induced eddy currents and the second set of permanentmagnets interact to generate forces which cause the hoverboard and aperson riding on the hoverboard to hover and translate from location tolocation along the substrate; and a shroud enclosing the electric motorand at least a top portion of the starm; a rider platform on which theperson rides including a front end and a back end wherein a first hoverengine is mounted beneath the rider platform proximate to the front endand a second hover engine is mounted beneath the rider platformproximate to the back end of the rider platform; and an electric powersource that outputs the electric current to the two or more hoverengines is mounted beneath the rider platform between the first hoverengine and the second hover engine.
 2. The hoverboard of claim 1,further comprising an enclosure which surrounds the electric powersource and conforms to a first shroud and second a second adjacent tothe enclosure.
 3. The hoverboard of claim 1, wherein the electric powersource comprises a plurality of batteries or a fuel cell.
 4. Thehoverboard of claim 1, wherein a diameter of each of the starms isbetween 4 and 24 inches.
 5. The hoverboard of claim 1, wherein a totalvolume magnets from the two or more hover engines associated with thesecond set of permanents magnets on each of the hover engines is between30 and 80 cubic inches.
 6. The hoverboard of claim 1, wherein each ofthe starms is configured to receive magnets with a height between 0.5and 2.5 inches.
 7. The hoverboard of claim 1, wherein a height of thehoverboard from a top of the rider platform at a location where one ofthe hover engines is mounted to a bottom of the hover engine is lessthan 5 inches.
 8. The hoverboard of claim 1, wherein the rider platformis flexible between the first hover engine and the second hover engineto allow the rider platform to bend and/or twist in response to forcesapplied by the person.
 9. The hoverboard of claim 1, wherein the shroudsenclose all or a portion of a bottom of each of the starms.
 10. Thehoverboard of claim 1, wherein the electronic speed controllers aremounted within the shrouds.
 11. The hoverboard of claim 1, where aportion the shrouds extends from underneath a bottom of the riderplatform and wherein the shrouds are sufficiently stiff to prevent theshrouds from impinging the starms when the person stands on the shroud.12. The hoverboard of claim 1, wherein the hoverboard includes a firstand a second hover engine mounted side by side approximate to a frontend of the hoverboard and a third and a fourth hover engine mounted sideby side approximate to a back end of the hoverboard.
 13. The hoverboardof claim 1, wherein the hoverboard includes a curved portion near thefront end or near the back end which acts as a moment arm to lift thefront end or the back end of the hoverboard when the person directs aforce via their foot to the curved portion.
 14. The hoverboard of claim1, further comprising one or more small protuberances on a bottom of thestarm which provides a stand-off distance between the bottom of thestarm and the substrate when the small protuberance is in contact withthe substrate.
 15. The hoverboard of claim 1, wherein the substratewhich supports the induced eddy currents is one of copper, aluminum orcombinations thereof.
 16. The hoverboard of claim 1, wherein a firsthover engine and a second hover engines are mounted at an angle relativeto the rider platform such that when the rider platform is substantiallyparallel to the substrate the first hover engine and the second hoverengine are angled relative to the substrate to each output a translationforce.
 17. The hoverboard of claim 16, wherein rotational directions andmounting angles of the first hover engine and the second hover engineare arranged such that in at least one orientation of the hoverboard anet translation force output from the first hover engine and the secondhover engine is approximately zero.
 18. A hoverboard comprising: two ormore hover engines, each hover engine having, an electric motorincluding a winding, a first set of permanent magnets and a firststructure which holds the first permanent wherein an electric current isapplied to the winding to cause one of the winding or the first set ofpermanent magnets to rotate; an electronic speed controller whichcontrols a rotation rate of the electric motor; a starm, configured toreceive a rotational torque from the electric motor which rotates theSTARM, including a second set of permanent magnets and a secondstructure which holds the second set of permanent magnets wherein thesecond set of permanent magnets are rotated to induce eddy currents in asubstrate such that the induced eddy currents and the second set ofpermanent magnets interact to generate forces which cause the hoverboardand a person standing on the hoverboard to hover and translate fromlocation to location along the substrate; and a shroud enclosing theelectric motor and at least a top portion of the starm; an electricpower source that outputs the electric current to the two or more hoverengines; a rider platform on which the person stands, the two or morehover engines structurally linked to the rider platform; a mechanicalhinge coupled to a first hover engine which allows the starm, theelectric motor and the shroud of the first hover engine to tilt relativeto the rider platform wherein a magnitude of a translational force,output from the first hover engine, changes in response to tilting thestarm, the electric motor and the shroud and wherein the translationforce is used to control an orientation of the hoverboard relative tothe substrate; and a tilt mechanism coupled to the first hover engineconfigured to receive an external force and/or generate an internalforce which tilts the first hover engine in response to an input forcegenerated by the person.
 19. The hoverboard of claim 18, furthercomprising a plurality of mechanical hinges and tilt mechanisms eachcoupled to the two or more hover engines.
 20. The hoverboard of claim18, wherein the tilt mechanism includes an actuator, including anactuator controller, which outputs the internal force that changes atilt position of the first hover engine from a first tilt position to asecond tilt position in response to the input force generated by theperson.
 21. The hoverboard of claim 20, further comprising one or moresensors configured to measure a direction and/or a magnitude of theinput force generated by the person and a logic device configured toreceive sensor data from the one or more sensors, communicate with theactuator controller and based upon the sensor data, command the actuatorcontroller to output the internal force which changes the tilt positionof the first hover engine.
 22. The hoverboard of claim 21, wherein theone or more sensors are integrated into the rider platform and whereinthe rider generates the input force via a movement of their body. 23.The hoverboard of claim 21, wherein the one or more sensors are locatedin an electronic device worn or held by the person.
 24. The hoverboardof claim 20, wherein the tilt mechanism includes a mechanical linkagewhich receives the input force from the person and converts the inputforce to the external force to tilt the first hover engine.
 25. Thehoverboard of claim 24, wherein the mechanical linkage is coupled to theshroud of the first hover engine on a first end and extends through anaperture in the rider platform.
 26. The hoverboard of claim 25, whereinthe mechanical linkage is configured to receive the input force from theperson on a second end.
 27. The hoverboard of claim 18, furthercomprising a first portion of the rider platform that is moveablerelative to a remaining portion of the rider platform and a mechanicallinkage coupled on a first end to the shroud of the first hover engineand coupled on a second end to the first portion wherein the firstportion moves in response to receiving the input force from a foot ofthe person which causes the first hover engine to tilt.
 28. Thehoverboard of claim 27, wherein the first portion is formed from a rigidmaterial which is coupled to the remaining portion of the rider platformvia a second mechanical hinge.
 29. The hoverboard of claim 27, whereinthe first portion is formed from a flexible material which bends inresponse to the input force from a foot of the person.
 30. Thehoverboard of claim 27, wherein the second end of the mechanical linkageis mounted through a bottom surface of the first portion and passesthrough an aperture in the remaining portion of the rider platform.